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         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/2a03a6622849de0365a970884422b75d6/isw-bibliothek",         
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         "label" : "Localization and Tracking of Deformable Linear Objects with Self Organizing Maps",
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         "booktitle": "Proceedings of the 54th International Symposium on Robotics (ISR)",
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         "author": [ 
            "Manuel Zürn","Markus Wnuk","Anja Schneider","Armin Lechler","Alexander Verl"
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            	{"first" : "Manuel",	"last" : "Zürn"},
            	{"first" : "Markus",	"last" : "Wnuk"},
            	{"first" : "Anja",	"last" : "Schneider"},
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            	{"first" : "Alexander",	"last" : "Verl"}
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         "label" : "Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation",
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         "author": [ 
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            	{"first" : "Christoph",	"last" : "Hinze"},
            	{"first" : "Manuel",	"last" : "Zürn"},
            	{"first" : "Markus",	"last" : "Wnuk"},
            	{"first" : "Armin",	"last" : "Lechler"},
            	{"first" : "Alexander",	"last" : "Verl"}
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         "pages": "310-316","abstract": "The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.",
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         "author": [ 
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         "label" : "Cable-Driven Parallel Robots: Expo 2015 - Forth and Back Again",
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         "author": [ 
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