TY  - JOUR
A1  - Schlechter, Antoine
A1  - Henrich, Dominik
T1  - Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions
N2  - This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs. It investigates the a priori knowledge about the 6-dimensional force/torque signal for a changing contact situation between a DLO and a rigid polyhedral obstacle. The result is a complete list, containing for each contact change the most significant combination of force/torque signal components together with a description of the expected signal curve. This knowledge enables the reliable detection of changes in the DLO contact situation and with it the implementation of sensor-based manipulation skills for all possible contact changes.
KW  - AG-RESY
KW  - RODEO
KW  - Robotics
KW  - deformable objects
KW  - Force-Torque
KW  - Manipulation skills
KW  - Assembly
Y1  - 2001
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1239
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-11511
ER  -