Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration

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Yue, Shigang ; Henrich, Dominik:
Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration.
In: Proceedings 2002 IEEE International Conference on Robotics and Automation. - Washington, DC, USA , 2002 . - pp. 2467-2472
DOI: https://doi.org/10.1109/ROBOT.2002.1013602

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It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. We present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. A template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.