Year of publication
- 2003 (2) (remove)
- Preprint (2) (remove)
- Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions (2003)
- This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.
- Manipulating Deformable Linear Objects: Programming using Different Manipulation Skills (2003)
- This paper describes motion primitives which solve some common recurrent problems encountered when manipulating deformable linear objects. As one example for the usefulness of these manipulations skills, the mounting of a leaf spring is presented here.