Manipulation of flexible rope using topological model based on sensor information

Takayuki Matsuno; Toshio Fukuda

doi:10.1109/IROS.2006.281944

Manipulation of flexible rope using topological model based on sensor information

Takayuki Matsuno, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 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 language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	2638-2643
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.281944
Publication status	Published - Dec 1 2006
Externally published	Yes
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: Oct 9 2006 → Oct 15 2006

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country	China
City	Beijing
Period	10/9/06 → 10/15/06

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2006.281944

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Cite this

Manipulation of flexible rope using topological model based on sensor information. / Matsuno, Takayuki; Fukuda, Toshio.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 2638-2643 4058788 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4058788, IEEE International Conference on Intelligent Robots and Systems, pp. 2638-2643, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 10/9/06. https://doi.org/10.1109/IROS.2006.281944

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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.",

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