TY - GEN
T1 - String tying operation by industrial manipulator based on shape abstracted data
AU - Watanabe, Tomotoshi
AU - Matsuno, Takayuki
AU - Shirakawa, Tomoya
AU - Minami, Mamoru
N1 - Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - 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.
AB - 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.
KW - Deformable Object
KW - Face List
KW - Industrial Manipulation
UR - http://www.scopus.com/inward/record.url?scp=85030327998&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85030327998&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8015922
DO - 10.1109/ICMA.2017.8015922
M3 - Conference contribution
AN - SCOPUS:85030327998
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 821
EP - 826
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -