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 |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 893-898 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 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 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Manipulation of deformable linear objects with knot invariant to classify condition. / Matsuno, Takayuki; Tamaki, Daichi; Arai, Fumihito; Fukuda, Toshio.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2005. p. 893-898 TC2-05.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Manipulation of deformable linear objects with knot invariant to classify condition
AU - Matsuno, Takayuki
AU - Tamaki, Daichi
AU - Arai, Fumihito
AU - Fukuda, Toshio
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=27644556103&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=27644556103&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:27644556103
VL - 2
SP - 893
EP - 898
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ER -