Manipulation of Deformable Linear Objects: Analysis of two-dimensional static approximation functions

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Timm, Sergej ; Kahl, Björn ; Henrich, Dominik:
Manipulation of Deformable Linear Objects: Analysis of two-dimensional static approximation functions.
In: IEEE International Conference on Methods and Models in Automation and Robotics. - Miedzyzdroje, Poland , 2005

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In this paper we analyze different models of deformable linear objects (DLOs) in terms of efficient computation and preciseness. Our approach is to minimize the potential energy (computed as the sum of gravitational and bending energy) of the DLO. To model our DLOs, we approximate the bending of the DLO using a weighted sum of approximation functions. Our objective is to identify the optimal type of approximation functions out of a given set of different types of functions like Fourier, Chebyshev, Haar and other function types.