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.
Author: | Axel Remde, Dominik Henrich, Heinz Wörn |
---|---|
URN: | urn:nbn:de:hbz:386-kluedo-9542 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 1999 |
Year of first Publication: | 1999 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2000/03/29 |
Tag: | AG-RESY; HANDFLEX; PARO |
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 |