Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions

  • This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.

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Author:Jürgen Acker, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-12561
Document Type:Preprint
Language of publication:English
Year of Completion:2003
Year of Publication:2003
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2003/07/21
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011