TY  - JOUR
A1  - Henrich, Dominik
A1  - Ogasawara, Tsukasa
A1  - Wörn, Heinz
T1  - Manipulating deformable linear objects - Contact states and point contacts -
N2  - The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative motion behavior of linear objects is analyzed for stable point contacts. Experiments with different materials validate the analytical results.
KW  - AG-RESY
KW  - PARO
KW  - HANDFLEX
Y1  - 1999
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1013
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9670
ER  -