Motion planning for dynamic knotting of a flexible rope with a high-speed robot arm
Abstract
In this paper, we propose an entirely new strategy for dexterous manipulation of a linear flexible object with a high-speed robot arm. The strategy involves manipulating the object at high speed. By moving the robot at high speed, we can assume that the dynamic behavior of the linear flexible object can be obtained by performing algebraic calculations of the robot motion. Based on this assumption, we derive a model of the linear flexible object and confirm the validity of the proposed model. Finally, we perform simulation of dynamic knotting based on the proposed model. Results of an experiment demonstrating dynamic knotting with a high-speed robot arm are shown.
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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 [52]
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- Authors
- Yamakawa, Y., Namiki, A., & Ishikawa, M.
- Affiliations
- The University of Tokyo (JP)
- Chiba University (JP)
- Venue
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2010-10
- Pages
- 49-54
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2042249853
- Cited by
- 57
- References
- 13
- Citations by year
- 2026: 1 · 2025: 3 · 2024: 1 · 2023: 5 · 2022: 6 · 2021: 13 · 2020: 4 · 2019: 6 · 2018: 3 · 2017: 2 · 2016: 1 · 2015: 1 · 2014: 2 · 2013: 3 · 2012: 3
- FWCI
- 5.11
- 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 › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Keywords
- motion planning, dexterous manipulation, dynamic modeling
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