{  
   "types" : {
      "Bookmark" : {
         "pluralLabel" : "Bookmarks"
      },
      "Publication" : {
         "pluralLabel" : "Publications"
      },
      "GoldStandardPublication" : {
         "pluralLabel" : "GoldStandardPublications"
      },
      "GoldStandardBookmark" : {
         "pluralLabel" : "GoldStandardBookmarks"
      },
      "Tag" : {
         "pluralLabel" : "Tags"
      },
      "User" : {
         "pluralLabel" : "Users"
      },
      "Group" : {
         "pluralLabel" : "Groups"
      },
      "Sphere" : {
         "pluralLabel" : "Spheres"
      }
   },
   
   "properties" : {
      "count" : {
         "valueType" : "number"
      },
      "date" : {
         "valueType" : "date"
      },
      "changeDate" : {
         "valueType" : "date"
      },
      "url" : {
         "valueType" : "url"
      },
      "id" : {
         "valueType" : "url"
      },
      "tags" : {
         "valueType" : "item"
      },
      "user" : {
         "valueType" : "item"
      }      
   },
   
   "items" : [
   	  
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/2a03a6622849de0365a970884422b75d6/isw-bibliothek",         
         "tags" : [
            "DataCon","SimTech","Soft-Tissue-Robotics","control","grk2198","isw","myown","simulation"
         ],
         
         "intraHash" : "a03a6622849de0365a970884422b75d6",
         "interHash" : "a17d194e82d3af518dc8ffa92e7fa61c",
         "label" : "Localization and Tracking of Deformable Linear Objects with Self Organizing Maps",
         "user" : "isw-bibliothek",
         "description" : "",
         "date" : "2022-06-27 16:59:03",
         "changeDate" : "2024-02-19 12:04:50",
         "count" : 2,
         "pub-type": "inproceedings",
         "booktitle": "Proceedings of the 54th International Symposium on Robotics (ISR)",
         "year": "2022", 
         "url": "", 
         
         "author": [ 
            "Manuel Zürn","Markus Wnuk","Anja Schneider","Armin Lechler","Alexander Verl"
         ],
         "authors": [
         	
            	{"first" : "Manuel",	"last" : "Zürn"},
            	{"first" : "Markus",	"last" : "Wnuk"},
            	{"first" : "Anja",	"last" : "Schneider"},
            	{"first" : "Armin",	"last" : "Lechler"},
            	{"first" : "Alexander",	"last" : "Verl"}
         ],
         "pages": "17-25",
         "bibtexKey": "zurn2022localization"

      }
,
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/20b447262b6bfbe0ef60dbbc1bd72a478/isw-bibliothek",         
         "tags" : [
            "EXC2075","SimTech","control","deformable","grk2198","isw","linear","objects","observer"
         ],
         
         "intraHash" : "0b447262b6bfbe0ef60dbbc1bd72a478",
         "interHash" : "f843e27e6620c7eab46709eae7f17b3f",
         "label" : "Kinematic Trajectory Following Control For Constrained Deformable Linear Objects",
         "user" : "isw-bibliothek",
         "description" : "",
         "date" : "2021-10-11 09:01:08",
         "changeDate" : "2024-02-19 12:17:54",
         "count" : 1,
         "pub-type": "inproceedings",
         "booktitle": "2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)",
         "year": "2021", 
         "url": "", 
         
         "author": [ 
            "Manuel Zürn","Markus Wnuk","Christoph Hinze","Armin Lechler","Alexander Verl","Weiliang Xu"
         ],
         "authors": [
         	
            	{"first" : "Manuel",	"last" : "Zürn"},
            	{"first" : "Markus",	"last" : "Wnuk"},
            	{"first" : "Christoph",	"last" : "Hinze"},
            	{"first" : "Armin",	"last" : "Lechler"},
            	{"first" : "Alexander",	"last" : "Verl"},
            	{"first" : "Weiliang",	"last" : "Xu"}
         ],
         "pages": "1701-1707","abstract": "deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.",
         "issn" : "2161-8089",
         
         "doi" : "10.1109/CASE49439.2021.9551613",
         
         "bibtexKey": "9551613"

      }
,
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/20caf0d4c1fa0a22e9cb09d879747d915/isw-bibliothek",         
         "tags" : [
            "EXC2075","SimTech","control","grk2198","myown","simulation"
         ],
         
         "intraHash" : "0caf0d4c1fa0a22e9cb09d879747d915",
         "interHash" : "7ea6f821bac9b5e24f166f5f0e7cb3b9",
         "label" : "Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation",
         "user" : "isw-bibliothek",
         "description" : "",
         "date" : "2020-11-20 11:08:22",
         "changeDate" : "2021-12-09 15:00:06",
         "count" : 2,
         "pub-type": "inproceedings",
         "booktitle": "IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society",
         "year": "2020", 
         "url": "https://ieeexplore.ieee.org/document/9254923/", 
         
         "author": [ 
            "Christoph Hinze","Manuel Zürn","Markus Wnuk","Armin Lechler","Alexander Verl"
         ],
         "authors": [
         	
            	{"first" : "Christoph",	"last" : "Hinze"},
            	{"first" : "Manuel",	"last" : "Zürn"},
            	{"first" : "Markus",	"last" : "Wnuk"},
            	{"first" : "Armin",	"last" : "Lechler"},
            	{"first" : "Alexander",	"last" : "Verl"}
         ],
         "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.",
         "issn" : "2577-1647",
         
         "doi" : "10.1109/IECON43393.2020.9254923",
         
         "bibtexKey": "9254923"

      }
	  
   ]
}