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Manipulation of Deformable Linear Objects: Analysis of two-dimensional static approximation functions
Sergej Timm , Dominik Henrich , Björn Kahl

Abstract (english)
In this paper we analyze different models of deformable linear objects (DLOs) in terms of efficient computation and preciseness. Our approach is to minimize the potential energy (computed as the sum of gravitational and bending energy) of the DLO. To model our DLOs, we approximate the bending of the DLO using a weighted sum of approximation functions. Our objective is to identify the optimal type of approximation functions out of a given set of different types of functions like Fourier, Chebyshev, Haar and other function types.

Publication data

Year: 2005
Publication date: 29. August 2005
Source: IEEE Int. Conference on Methods and Models in Automation and Robotics (MMAR-2005), 29. Aug - 1. Sep., Miedzyzdroje, Poland
Project: RODEO , ViRoP
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=timm2005a

BibTeX

@ARTICLE{timm2005a,
  TITLE             = "Manipulation of Deformable Linear Objects: Analysis of two-dimensional static approximation functions",
  AUTHOR            = "Timm, Sergej and Henrich, Dominik and Kahl, Björn",
  YEAR              = "2005",
  JOURNAL           = "IEEE Int. Conference on Methods and Models in Automation and Robotics (MMAR-2005), 29. Aug - 1. Sep., Miedzyzdroje, Poland",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=timm2005a}",
}

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timm2005a.Manipulation.of.Deformable.Linear.Objects.Analysis.of.twodimensional.static.approximation.functions.pdf   289.1K   english   PDF   download preprint


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