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

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Acker, Jürgen ; Kahl, Björn ; Henrich, Dominik:
Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task Execution.
In: 37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006). - München , 2006

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The research in the field of assembly operations mainly focuses on the handling of rigid objects. Although non-rigid objects like ropes, wires or steel springs must be handled as well. Therefore, our research investigates the sensor-based 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 uncertanties and we analyse the restrictions of such a task description. Also we present the process of automatic generation of the task description from a demonstration in a virtual environment, performed by a human operator.