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.
Author: | Antoine Schlechter, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-11511 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 2001 |
Year of first Publication: | 2001 |
Publishing Institution: | 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: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Collections: | AG RESY |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |