Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact PointsThorsten 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=schmidt2001a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| schmidt2001a.Manipulating.Deformable.Linear.Objects.Robot.Mo tions.in.Single.and.Multiple.Contact.Points.djvu |
138K | english | DJVU | download preprint | |||
| schmidt2001a.Manipulating.Deformable.Linear.Objects.Robot.Mo tions.in.Single.and.Multiple.Contact.Points.pdf |
248.8K | english | download preprint |