Manipulating deformable linear objects-contact state transitionsand transition conditions

摘要

Deals with the robust manipulation of deformable linear objectssuch as hoses or wires. We propose manipulation based on the qualitativecontact state between the deformable workpiece and a rigid environment.First, we give an enumeration of possible contact states and discuss themain characteristics of each state. Second, we investigate thetransitions which are possible between the contact states and derivecriteria and conditions for each of them. Finally, we apply the conceptof contact states and state transitions to the description of a typicalassembly task