Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions
نویسندگان
چکیده
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 sensorbased manipulation skills for all possible contact changes.
منابع مشابه
Manipulating deformable linear objects-force-based detection of contact state transitions
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs, bases on force/torque sensing. First, we describe the characteristic change of force and moment for all single-contact transitions which may occur between DLO and a rigid polyhedron obstacle. Second, we present data processing algorithms for the automated detection of state transitions ...
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