Title :
Manipulating deformable linear objects - contact states and point contacts
Author :
Henrich, Dominik ; Ogasawara, Tsukasa ; Wörn, Heinz
Author_Institution :
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
Abstract :
The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative motion behavior of linear objects is analyzed for stable point contacts. Experiments with different materials validate the analytical results
Keywords :
computational geometry; manipulators; pattern recognition; point contacts; state estimation; 1D nonrigid objects; contact states; deformable object manipulation; point contacts; polyhedral obstacles; robot manipulators; shape recognition; skill based manipulation; state estimation; Assembly; Cables; Deformable models; Intellectual property; Motion control; Process control; Production; Robot motion; Shape measurement; Wires;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782959
