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Force- and Vision-Based Detection of Contact State Transitions
[chapter]
2000
Robot Manipulation of Deformable Objects
A new and systematic basic approach to force-and vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation between the deformable and rigid obstacles, and are derived from the object image and its features. We give an enumeration of possible contact states and discuss the main characteristics of each state. We investigate the
doi:10.1007/978-1-4471-0749-1_8
fatcat:yws5t2e2pnevhj6q7kumjwo4gy