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Manipulating deformable linear objects: Contact state transitions and transition conditions

  • 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.

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Author:Axel Remde, Dominik Henrich, Heinz Wörn
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9542
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):2000/03/29
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