Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis
Abstract
In this paper, we examine the relationship between a knotting process and the individual skills of which a robot hand is capable. To determine the necessary hand skills required for knotting, we first analyzed the knotting action performed by a human subject. We identified loop production, rope permutation, and rope pulling skills. To take account of handling of the two ends of the rope, we added a rope moving skill. We determined the characteristics of these skills using an intersection-based description. The knotting process was examined based on the analysis of knots and the characteristics of the robot hand skills. Finally, we show experimental results of an overhand knot and a half hitch performed using a high-speed multifingered hand system.
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For tackling physical ropes, a fourth type of Reidemeister move is proposed to achieve rope pulling and moving operations.
“For tackling physical ropes, the fourth type of RM [282,284] is proposed to achieve rope pulling and moving operations.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [284]
The common strategy for producing a topological representation is to use the extracted intersection and segments of the rope from thinned binary images.
“The common strategy for producing TR is to use the extracted intersection and segments of the rope from thinned binary images [61,105,275,282,284,286].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [284]
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- Authors
- Yamakawa, Y., Namiki, A., Ishikawa, M., & Shimojo, M.
- Affiliations
- The University of Tokyo (JP)
- Chiba University (JP)
- University of Electro-Communications (JP)
- Venue
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2008-09
- Pages
- 2691-2696
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2145939493
- Cited by
- 29
- References
- 8
- Citations by year
- 2024: 2 · 2023: 2 · 2022: 2 · 2021: 3 · 2020: 1 · 2019: 1 · 2018: 1 · 2017: 2 · 2016: 1 · 2015: 6 · 2013: 2 · 2012: 1
- FWCI
- 2.83
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (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
- knotting, multi-fingered hand, rope pulling
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