Manipulating deformable linear objects : Contact states and point contacts

Title data

Henrich, Dominik ; Ogasawara, Tsukasa ; Wörn, Heinz:
Manipulating deformable linear objects : Contact states and point contacts.
In: Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning. - Porto, Portugal , 1999 . - pp. 198-204
DOI: https://doi.org/10.1109/ISATP.1999.782959

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Abstract in another language

The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative motion behavior of linear objects is analyzed for stable point contacts. Experiments with different materials validate the analytical results.