Manipulation of flexible rope using topological model based on sensor information

Takayuki Matsuno, Toshio Fukuda

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

15 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages2638-2643
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Matsuno, T., & Fukuda, T. (2006). Manipulation of flexible rope using topological model based on sensor information. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 2638-2643). [4058788] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281944