Manipulation of deformable linear objects with knot invariant to classify condition

Takayuki Matsuno, Daichi Tamaki, Fumihito Arai, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages893-898
Number of pages6
Volume2
Publication statusPublished - 2005
Externally publishedYes
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: Jul 24 2005Jul 28 2005

Other

OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
CountryUnited States
CityMonterey, CA
Period7/24/057/28/05

Fingerprint

Robots
CCD cameras
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Matsuno, T., Tamaki, D., Arai, F., & Fukuda, T. (2005). Manipulation of deformable linear objects with knot invariant to classify condition. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 893-898). [TC2-05]

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 proceedingConference contribution

Matsuno, T, Tamaki, D, Arai, F & Fukuda, T 2005, Manipulation of deformable linear objects with knot invariant to classify condition. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, TC2-05, pp. 893-898, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States, 7/24/05.
Matsuno T, Tamaki D, Arai F, Fukuda T. Manipulation of deformable linear objects with knot invariant to classify condition. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. 2005. p. 893-898. TC2-05
Matsuno, Takayuki ; Tamaki, Daichi ; Arai, Fumihito ; Fukuda, Toshio. / Manipulation of deformable linear objects with knot invariant to classify condition. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2005. pp. 893-898
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