TY  - JOUR
A1  - Remde, Axel
A1  - Henrich, Dominik
A1  - Wörn, Heinz
T1  - Manipulating deformable linear objects: Contact state transitions and transition conditions
N2  - This paper deals with the robust manipulation of deformable linear objects such as hoses or wires. We propose manipulation based on thequalitative contact state between the deformable workpiece and a rigid environment. First, we give an enumeration of possible contact states and discuss the main characteristics of each state. Second, we investigate the transitions which are possible between the contact states and derive criteria and conditions for each of them. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task.
KW  - AG-RESY
KW  - PARO
KW  - HANDFLEX
Y1  - 1999
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1000
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9542
ER  -