Abstract
Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.
Original language | English |
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Pages (from-to) | 401-408 |
Number of pages | 8 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 11 |
Issue number | 4 |
DOIs | |
Publication status | Published - Dec 1 2006 |
Externally published | Yes |
Keywords
- Deformable object manipulation
- Graph structure
- Knot invariant
- Shape recognition
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering