Manipulating deformable linear objects-force-based detection of contact state transitions
نویسندگان
چکیده
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 and discuss the application based on an experimental study.
منابع مشابه
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...
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