TY - GEN
T1 - Manipulation of flexible rope using topological model based on sensor information
AU - Matsuno, Takayuki
AU - Fukuda, Toshio
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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, shape recognition method for deformable object manipulation is required, that has hyper degrees of freedom structures. Thus 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 sensor information through the CCD cameras when a robot manipulates a rope. The effectiveness of recognition method against a method using three-demensional data is verified through an experiment.
AB - 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, shape recognition method for deformable object manipulation is required, that has hyper degrees of freedom structures. Thus 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 sensor information through the CCD cameras when a robot manipulates a rope. The effectiveness of recognition method against a method using three-demensional data is verified through an experiment.
UR - http://www.scopus.com/inward/record.url?scp=34250630848&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2006.281944
DO - 10.1109/IROS.2006.281944
M3 - Conference contribution
AN - SCOPUS:34250630848
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2638
EP - 2643
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -