Environment Guided Handling of Deformable Linear Objects: from Task Demonstration to Task Execution

The research in the field of assembly operations mainly focuses on the handling of rigid objects. Although nonrigid objects like ropes, wires, or steels springs must be handled as well. Therefore, our research investigates the sensorbased handling of deformable linear objects in the field of assembly operations. In this paper, we discuss guidelines for a task description that is able to cope with uncertainties and we analyse the restrictions of such a task description. Also we present the process of the automatically generation of the task description from a demonstration in a virtual environment, performed by a human operator.