A new strategy for making a knot with a general-purpose arm
Abstract
This paper proposes a new strategy for making a knot with a general-purpose arm. The strategy is divided into four stages: First, a human-performed knotting action is analyzed to acquire some motion primitives. Second, based on these databases, the robot is taught to tie a knot. Third, key points on the stored trajectories are extracted. These key points are considered in a general case, and then used to implement the manipulation skills. Finally, knotting task is generated by synthesis of the manipulation skills. An overhand knot was made by the actual robot for the validity of the proposed method. This paper also describes a system for manipulating deformable objects (e.g. knotting a rope).
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Vinh et al. and Kudoh et al. apply trajectory replay methods to achieve knot-tying tasks.
“Vinh et al. (2012) [91] and Kudoh et al. (2015) [105] apply such methods to achieve knot-tying tasks”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [91]
Most knot tying systems act either on the table or in the air.
“Most KT systems act either on the table [243,244,275,282,286,287] or in the air [52,91,105,239,284,285] as shown in Figure 6.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [91]
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Flexible rope manipulation by dual manipulator system using vision sensor
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Motion planning for dynamic knotting of a flexible rope with a high-speed robot arm
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Bell, M. (2010) · doi:10.1349/ddlp.367 · Cited by 35 · see citing works
Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis
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Manipulation planning for unraveling linear objects
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Tangled: Learning to untangle ropes with RGB-D perception
Lui, W. H., & Saxena, A. (2013) · 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2013.6696448 · Cited by 71 · see citing works
In-air Knotting of Rope by a Dual-arm Multi-finger Robot
Kudoh, S., Gomi, T., Katano, R., Tomizawa, T., & Suehiro, T. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354262 · Cited by 23 · see citing works
Self-citationKadi, H. A., & Terzić, K. (2023) · Sensors · doi:10.3390/s23052389 · Cited by 19 · see citing works
“Most KT systems act either on the table [243,244,275,282,286,287] or in the air [52,91,105,239,284,285] as shown in Figure 6.”
BackgroundMethodInfluential
- Authors
- Vinh, T. V., Tomizawa, T., Kudoh, S., & Suehiro, T.
- Affiliations
- University of Electro-Communications (JP)
- ORCID
- Suehiro, Takashi
- Venue
- 2012 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2012-05
- Pages
- 2217-2222
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1996735792
- Cited by
- 21
- References
- 13
- Citations by year
- 2023: 3 · 2022: 3 · 2021: 4 · 2018: 3 · 2017: 2 · 2016: 2 · 2015: 2 · 2014: 1 · 2013: 1
- FWCI
- 2.05
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Keywords
- knot tying, robotic manipulation, motion primitives, human motion analysis, deformable object manipulation, rope manipulation
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