Name
Abstract | ||
|---|---|---|
Control and localization of deformable linear objects (DLOs) require models to handle their deformation. This paper proposes an approach to automatically generate a model from available visual sensor information. Based on point cloud data obtained from a 3D stereo camera, the kinematics of a multibody model formulation are derived. The approach aims to balance the tradeoff between computational complexity and model accuracy. This is achieved with a geometric error criterion that reduces the introduced degrees of freedom (DOF) of the model to a necessary minimum, representing the continuous shape with as few bodies as possible. The approach is evaluated analytically and validated with an experimental scenario of DLO manipulation. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/IROS45743.2020.9340887 | IROS |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Markus Wnuk | 1 | 0 | 1.35 |
| Christoph Hinze | 2 | 0 | 1.69 |
| Armin Lechler | 3 | 2 | 2.79 |
| Alexander Verl | 4 | 167 | 50.15 |