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Manipulating deformable linear objects - Contact states and point contacts -

  • 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.

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Author:Dominik Henrich, Tsukasa Ogasawara, Heinz Wörn
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9670
Document Type:Article
Language of publication:English
Year of Completion:1999
Year of Publication:1999
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/04
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