Manipulating deformable linear objects-contact state transitions and transition conditions

نویسندگان

  • Axel J. Remde
  • Dominik Henrich
  • Heinz Wörn
چکیده

This paper deals with the robust manipulation of deformable linear objects such as hoses or wires. We propose manipulation based on the qualitative 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.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

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 ...

متن کامل

Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions

This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the visionbased 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 signi...

متن کامل

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 co...

متن کامل

Manipulating deformable linear objects − Vision - based recognition of contact state transitions −

A new and systematic approach to machine visionbased robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation of the object with respect to an obstacle and are derived from the object image and its features. Therefore, the object is segmented ...

متن کامل

Force- and Vision-based Detection of Contact State Transitions

A new and systematic basic approach to forceand vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation between the deformable and rigid obstacles, and are derived from the object image and its features. We give an enumeration of...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 1999