Manipulating deformable linear objects-contact state transitions and transition conditions

Deals with the robust manipulation of deformable linear objects such as hoses or wires. We propose manipulation based on the qualitative contact state between the deformable workpiece and a rigid environment. First, we give an enumeration of possible contact states and discuss the main characteristics of each state. Second, we investigate the transitions which are possible between the contact states and derive criteria and conditions for each of them. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task.