Knotting/unknotting manipulation of deformable linear objects
Abstract
Here, we propose a planning method for knotting/unknotting of deformable linear objects. First, we propose a topological description of the state of a linear object. Second, transitions between these states are defined by introducing four basic operations. Then, possible sequences of crossing state transitions, i.e. possible manipulation processes, can be generated once the initial and the objective states are given. Third, a method for determining grasping points and their directions of movement is proposed to realize derived manipulation processes. Our proposed method indicated that it is theoretically possible for any knotting manipulation of a linear object placed on a table to be realized by a one-handed robot with three translational DOF and one rotational DOF. Furthermore, criteria for evaluation of generated plans are introduced to reduce the candidates of manipulation plans. Fourth, a planning method for tying knots tightly is established because they fulfill their fixing function by tightening them. Finally, we report knotting/unknotting manipulation performed by a vision-guided system to demonstrate the usefulness of our approach.
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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 [282]
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 [282]
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 [282]
Wakamatsu et al. introduced a general motion planning framework for both topological knot tying and untying using four Reidemeister moves without any energy function.
“Wakamatsu et al. (2004, 2006a, 2006b) [275,281,282] introduce a general motion planning framework for both topological KT and KU using four Reidemeister moves [275,283] without any energy function.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [282]
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“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
- Wakamatsu, H., Arai, E., & Hirai, S.
- Affiliations
- The University of Osaka (JP)
- Ritsumeikan University (JP)
- Corresponding author
- Arai, Eiji
- ORCID
- Hirai, Shinichi
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2006-04
- Volume
- 25
- Issue
- 4
- Pages
- 371-395
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2126998703
- Cited by
- 132
- References
- 33
- Citations by year
- 2025: 4 · 2024: 6 · 2023: 9 · 2022: 11 · 2021: 7 · 2020: 11 · 2019: 14 · 2018: 6 · 2017: 6 · 2016: 5 · 2015: 5 · 2014: 7 · 2013: 7 · 2012: 8
- FWCI
- 10.65
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- The International Journal of Robotics Research (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- knotting, unknotting, deformable linear objects, manipulation planning, state transitions, vision-guided manipulation
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