A case study of flexible object manipulation
Abstract
This article describes a project undertaken to explore pro gramming physical operations on complex flexible objects. Uncertainty about the exact state of the object makes it im possible to precisely specify the actions to be performed at the time the program is written. Furthermore, the detailed conse quences of manipulations on flexible objects cannot be deter mined before the action is performed. Lacking precise specifi cations, the programmer must abstract the essential properties of objects and actions. In an effort to study manipulation offlexible objects, a system to tie knots in rope with a robot arm was developed. The system includes an extensible graph representation for knots, a vision system that binds the contour of a physical rope to an abstract description, and a knot-tying language based on parametric motion commands. Knots of modest complexity, such as a bowline or figure 8, can be tied in a va riety of ropes with minimal constraints on the initial configu ration of the rope. The work highlights the importance of software engineering principles and a good programming en vironment for robot program development.
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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 [286]
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 [286]
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- Authors
- Hopcroft, J. E., Kearney, J. K., & Krafft, D. B.
- Affiliations
- Cornell University (US)
- University of Iowa (US)
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1991-02
- Volume
- 10
- Issue
- 1
- Pages
- 41-50
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2099760513
- Cited by
- 82
- References
- 19
- Citations by year
- 2025: 1 · 2024: 6 · 2023: 9 · 2022: 2 · 2021: 6 · 2020: 6 · 2019: 5 · 2018: 2 · 2017: 2 · 2016: 5 · 2014: 3 · 2013: 2 · 2012: 4
- FWCI
- 0.00
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- The International Journal of Robotics Research (publishedVersion)
- Funders
- National Science Foundation
- Office of Naval Research
- 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
- flexible object manipulation, robotic arm control
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