@inproceedings{29879265fcce4c74bbf1dfc025716a12,
title = "Tactile-Based Manipulation for Wire Following",
abstract = "Flexible wires are widely used in mechanical and electrical products. As a kind of deformable linear object (DLO), the posture of the wire in the gripper changes dynamically especially during the following process in a limited operating space. For the following manipulation of flexible wires, we design a compact parallel gripper based on a flexible hinge and a tactile sensor is installed on the gripper. And we adopt a suitable algorithm for wire posture estimation. In addition, we build a planar pulling model of the wire-gripper and construct the relationship between the end position adjustment and the wire posture to keep the wire at the center of the sensor. Experiments are carried out to verify the accuracy of posture estimation algorithm and the effect of following wire.",
keywords = "deformable linear object, flexible hinge, posture estimation, tactile sensor",
author = "Jiazhen Cai and Jing Cui and Zhongyi Chu",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 3rd International Conference on Cognitive Computation and Systems, ICCCS 2024 ; Conference date: 20-12-2024 Through 22-12-2024",
year = "2025",
doi = "10.1007/978-981-96-7352-0\_27",
language = "英语",
isbn = "9789819673513",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "319--332",
editor = "Bin Xu and Jianlong Qiu",
booktitle = "Cognitive Computation and Systems - 3rd International Conference, ICCCS 2024, Revised Selected Papers",
address = "德国",
}