@article{245eebfbc0ea4b398cbc02f5ecd035c7,
title = "Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information",
abstract = "Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.",
keywords = "Deformable object manipulation, Graph structure, Knot invariant, Shape recognition",
author = "Takayuki Matsuno and Daichi Tamaki and Fumihito Arai and Toshio Fukuda",
note = "Funding Information: Manuscsript received December 3, 2005; revised May 16, 2006. Recommended by Guest Editors K. M. Lee and S. Chiaverini. This work was supported in part by the MEXT/JSPS Grant-in-Aid for Young Scientists (B). T. Matsuno is with Intelligent Systems Design Engineering, Toyama Prefectural University, Toyama 939-0398, Japan (e-mail: matsuno@mein. nagoya-u.ac.jp). D. Tamaki is with the Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603, Japan. F. Arai is with the Department of Bioengineering and Robotics, Tohoku University, Tohoku 980-8577, Japan (e-mail: arai@mein.nagoya-u.ac.jp). T. Fukuda is with the Department of Micro-Nano Systems Engineering and Mechanical Science and Engineering, Nagoya University, Nagoya 464-8603, Japan (e-mail: fukuda@mein.nagoya-u.ac.jp). Digital Object Identifier 10.1109/TMECH.2006.878557",
year = "2006",
doi = "10.1109/TMECH.2006.878557",
language = "English",
volume = "11",
pages = "401--408",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",
}