Abstract
In this paper, we propose a description method of conditions of rope using a topological model and knot theory. And, we also propose a recognition method to obtain the structure of rope from visual information obtained by the CCD cameras when a robot manipulates a rope. There are many deformable objects such as papers, clothes, and ropes in life space of a person. Robots need skills to manipulate deformable objects, in order to take active parts in such space. However, it is difficult for robots to manipulate deformable objects well and possibility of failure to operate deformable objects cannot be denied. Therefore theoretical framework of error recovery for deformable object manipulation is required. For error recovery system, it is necessary to abstract profitable data from deformable objects, which are hyper degrees of freedom structures. Finally, effectiveness of methods are confirmed by experiments.
Original language | English |
---|---|
Pages | 893-898 |
Number of pages | 6 |
Publication status | Published - Nov 16 2005 |
Externally published | Yes |
Event | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: Jul 24 2005 → Jul 28 2005 |
Other
Other | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
---|---|
Country | United States |
City | Monterey, CA |
Period | 7/24/05 → 7/28/05 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering