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Fishbone Model for Belt Object Deformation
Robotics: Science and Systems III
A modeling method for representing belt object deformation is proposed. Deformation of belt objects such as film circuit boards or flexible circuit boards must be estimated for automatic manipulation and assembly. In this paper, we assume that deformation of an inextensible belt object can be described by the shape of its central axis in a longitudinal direction called "the spine line" and lines with zero curvature called "rib lines". This model is referred to as a "fishbone model" in thisdoi:10.15607/rss.2007.iii.012 dblp:conf/rss/WakamatsuAH07 fatcat:w5zmqxw5cvhb3iray4vxbd5gdi