Title :
Manipulating deformable linear objects-force-based detection of contact state transitions
Author :
Remde, A. ; Pfaffenberger, E. ; WÖrn, Heinz
Author_Institution :
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
Abstract :
This paper deals with the robot handling of deformable linear objects (DLO), such as hoses, wires or leaf springs, based on contact state transitions and force/moment sensing. First, we describe the characteristic change of force and moment for all single-contact transitions which may occur between the DLO and a rigid polyhedron obstacle. Second, we discuss the sensor data processing for the automated detection of the state transitions
Keywords :
force sensors; manipulator dynamics; DLO; contact state transitions; deformable linear object manipulation; force sensing; force-based detection; moment sensing; rigid polyhedron obstacle; sensor data processing; single-contact transitions; Force measurement; Force sensors; Hoses; Object detection; Robot sensing systems; Robotic assembly; Sensor systems; Shape; Springs; Wires;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893229
