操纵可变形的线性对象-接触状态和点接触

Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470) Pub Date : 1999-07-21 DOI:10.1109/ISATP.1999.782959

Dominik Henrich, Tsukasa Ogasawara, Heinz Wörn

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引用次数: 7

摘要

研究了机器人操作系统处理非刚性一维物体的任务。为了区分不同的非刚性物体行为，从机器人的角度提出了五类可变形物体。此外，还提供了一维物体与多面体障碍物的所有可能接触状态的枚举。最后，分析了稳定点接触下线性物体的定性运动行为。不同材料的实验验证了分析结果。

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Manipulating deformable linear objects - contact states and point contacts

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.

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Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

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