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Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration
Shigang Yue , Dominik Henrich

Abstract (english)
It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. In this paper, we present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.

Publication data

Year: 2002
Publication date: 28. March 2002
Source: IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002
Project: RODEO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2002a

BibTeX

@MISC{yue2002a,
  TITLE             = "Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration",
  AUTHOR            = "Yue, Shigang and Henrich, Dominik",
  YEAR              = "2002",
  JOURNAL           = "IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2002a}",
}

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Filename   Size   Language   Format
yue2002a.Manipulating.Deformable.Linear.Objects.SensorBased.Fast.Manipulation.during.Vibration.djvu   106K   english   DJVU   download preprint
yue2002a.Manipulating.Deformable.Linear.Objects.SensorBased.Fast.Manipulation.during.Vibration.pdf   832.8K   english   PDF   download preprint


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