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Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Points
Thorsten W. Schmidt , Dominik Henrich

Abstract (english)
The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. Especially, approaches to calculate motions with specific behavior in point contacts between the object and environment are regarded. For single point contacts, motions based on generalized rotations solving the direct and inverse manipulation problem are investigated. The latter problem is additionally tackled by simple rotation and translation motions. For double and multiple point contacts, motions based on Splines are suggested. In experimental results with steel springs, the predicted and measured effect for each approach are compared.

Publication data

Year: 2001
Publication date: 12. June 2001
Source: The 4th International Symposium on Assembly and Task Planning (ISATP01); Fukuoka; Japan, 28-29 May 2001
Project: RODEO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schmidt2001a

BibTeX

@MISC{schmidt2001a,
  TITLE             = "Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Points",
  AUTHOR            = "Schmidt, Thorsten W. and Henrich, Dominik",
  YEAR              = "2001",
  JOURNAL           = "The 4th International Symposium on Assembly and Task Planning (ISATP01); Fukuoka; Japan, 28-29 May 2001",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schmidt2001a}",
}

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Filename   Size   Language   Format
schmidt2001a.Manipulating.Deformable.Linear.Objects.Robot.Motions.in.Single.and.Multiple.Contact.Points.djvu   138K   english   DJVU   download preprint
schmidt2001a.Manipulating.Deformable.Linear.Objects.Robot.Motions.in.Single.and.Multiple.Contact.Points.pdf   248.8K   english   PDF   download preprint


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