If you are experiencing problems downloading PDF or HTML fulltext, our helpdesk recommend clearing your browser cache and trying again. If you need help in clearing your cache, please click here . Still need help? Email help@ingentaconnect.com

A vision-based framework for the discovery-driven manipulation of non-rigid objects

$61.74 plus tax (Refund Policy)

Buy Article:


Since the analytical expressions for the representation of non-rigid object structure and motion are severely underconstrained, current techniques for non-rigid object manipulation employ physical object models known prior to sensing. Recently, however, psychophysical studies have revealed that humans are able to discover proper motor coordination skills through sensory input without the use of previously known physical models. In this paper, a robust, discovery-driven, vision-based framework for the robotic manipulation of non-rigid objects is developed and experimentally verified using various flexible linear objects. Employing the novel concept of relative elasticity, the algorithms derived using this framework are completely sensor-based, requiring the use of no a priori explicit, physics-based models.

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855397X00056

Affiliations: 1: Department of Electrical Engineering, University of Virginia, Charlottesville, VA 22903-2442, USA 2: Electroglas, Inc., 2901 Coronado Drive, Santa Clara, CA 95054, USA

Publication date: January 1, 1996

Related content

Share Content

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more