String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

Takayuki Matsuno; Tomoya Shirakawa; Tomotoshi Watanabe; Mamoru Minami

doi:10.1109/ICRA.2018.8460477

String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

Takayuki Matsuno, Tomoya Shirakawa, Tomotoshi Watanabe, Mamoru Minami

School of Engineering

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

1 Citation (Scopus)

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. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	180-186
Number of pages	7
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460477
Publication status	Published - Sept 10 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: May 21 2018 → May 25 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2018.8460477

Cite this

Matsuno, T., Shirakawa, T., Watanabe, T., & Minami, M. (2018). String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 180-186). Article 8460477 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460477

String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator. / Matsuno, Takayuki; Shirakawa, Tomoya; Watanabe, Tomotoshi et al.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 180-186 8460477 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Matsuno, T, Shirakawa, T, Watanabe, T & Minami, M 2018, String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460477, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 180-186, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460477

Matsuno T, Shirakawa T, Watanabe T, Minami M. String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 180-186. 8460477. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8460477

Matsuno, Takayuki ; Shirakawa, Tomoya ; Watanabe, Tomotoshi et al. / String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 180-186 (Proceedings - IEEE International Conference on Robotics and Automation).

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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. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.",

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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. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

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String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

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