String tying operation by industrial manipulator based on shape abstracted data

Tomotoshi Watanabe, Takayuki Matsuno, Tomoya Shirakawa, Mamoru Minami

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

Abstract

Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains such as housework, manufacturing and medical field. However, manipulation of deformable objects is more difficult than that of rigid objects, because deformable objects have variety of shape and variety of appearance. Therefore, our research group has been focusing on the string shape operation by a robot. This paper describes planning method of string tying operation based on knot theory and algorithms to generate the motion of a manipulator. Face List is proposed as shape abstraction data of string projection. Face List is data in which a plurality of faces included in the string projection are listed in a list form. Finally, the result of string tying experiment is reported.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages821-826
Number of pages6
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - Aug 23 2017
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: Aug 6 2017Aug 9 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period8/6/178/9/17

Keywords

  • Deformable Object
  • Face List
  • Industrial Manipulation

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Artificial Intelligence
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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  • Cite this

    Watanabe, T., Matsuno, T., Shirakawa, T., & Minami, M. (2017). String tying operation by industrial manipulator based on shape abstracted data. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 821-826). [8015922] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015922