ICRA 2012 Paper Abstract


Paper WeA210.4

Yamakawa, Yuji (University of Tokyo), Namiki, Akio (Chiba University), Ishikawa, Masatoshi (University of Tokyo)

Simple Model and Deformation Control of a Flexible Rope using Constant, High-Speed Motion of a Robot Arm

Scheduled for presentation during the Interactive Session "Interactive Session WeA-2" (WeA210), Wednesday, May 16, 2012, 09:00−09:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Dexterous Manipulation, Soft Material Robotics, Motion Control of Manipulators


In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a flexible rope with a high-speed robot arm. The manipulation strategy involves manipulating the object at a constant, high speed. Then, we can assume that the dynamic behavior of the flexible rope can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a model of the flexible rope and suggest a motion planning method using the proposed model. Finally, we show experimental results of rope deformation control based on the proposed method.



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