Representation of Thin Object Manipulation Based on Contact State.

Virtual rope theory for fabric manipulation

“…Although these have been established as basic methods of fabric handling, each of these is applicable exclusively to its specified tasks. Wakamatsu et al have studied classifications of manipulation of deformable objects, including the contact states between floors and a deformable object, including thin plates [9], [10]. In earlier studies, we described a robotic system that could handle messy fabrics in series [11].…”

Robotized recognition of a wire harness utilizing tracing operation

“…The theoretical researches in this field are concentrated on solving the problem of automatic manipulation planning for tasks employing deformable objects. In [5,6], contact state transition graph which is widely used in manipulation planning of rigid objects is introduced in analyzing the handling process of a deformable linear object. It is demonstrated that the whole handling process of a deformable object can also be expressed with a contact state transition graph which describes the variation of contact state accompanied with a manipulation process.…”

“…One of the reasons for the fact is that these approaches excessively depend on the availability of realtime contactless measurement to the state of the target wire. For example, an implementation of the approaches [5,6] necessitate approaches for identifying contact state between the wire and the environment. In automatic knotting/unknotting operations, identification of topology model of entangled wires is generally done by firstly projecting the target onto a plane then analyzing the crossing state from the projection of the wire segments.…”

Manipulation of Deformable Linear Objects: From Geometric Model Towards Program Generation

“…Since contact states proved to be useful in the domain of rigid objects, [10] and especially [3] applied this approach to deformable objects. Both groups concentrated on DLOs but the representations differ.…”

“…Both groups concentrated on DLOs but the representations differ. The contact state model in [3] regards only single contact points between a DLO and convex environment objects, whereas [10] uses a set of contact patterns and transitions between them for the purpose of planning manipulation tasks.…”