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 |
|---|---|
| Pages (from-to) | 401-408 |
| Number of pages | 8 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 11 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
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Keywords
- Deformable object manipulation
- Graph structure
- Knot invariant
- Shape recognition
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information. / Matsuno, Takayuki; Tamaki, Daichi; Arai, Fumihito; Fukuda, Toshio.
In: IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 4, 2006, p. 401-408.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information
AU - Matsuno, Takayuki
AU - Tamaki, Daichi
AU - Arai, Fumihito
AU - Fukuda, Toshio
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Deformable object manipulation
KW - Graph structure
KW - Knot invariant
KW - Shape recognition
UR - http://www.scopus.com/inward/record.url?scp=33947185690&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33947185690&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2006.878557
DO - 10.1109/TMECH.2006.878557
M3 - Article
AN - SCOPUS:33947185690
VL - 11
SP - 401
EP - 408
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
ER -