Tactile based robotic skills for cable routing operations
Andrea Monguzzi,Martina Pelosi,Andrea Maria Zanchettin,Paolo Rocco,Andrea Monguzzi,Martina Pelosi,Andrea Maria Zanchettin,Paolo Rocco
This paper proposes a set of tactile based skills to perform robotic cable routing operations for deformable linear objects (DLOs) characterized by considerable stiffness and constrained at both ends. In particular, tactile data are exploited to reconstruct the shape of the grasped portion of the DLO and to estimate the future local one. This information is exploited to obtain a grasping configura...
