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Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions

  • 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.

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Author:Antoine Schlechter, Dominik Henrich
Document Type:Article
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2001/06/08
Tag:AG-RESY; Assembly; Force-Torque; Manipulation skills; RODEO; Robotics; deformable objects
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