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Paper WeA110.4

Trinh, Van Vinh (The University of Electro-Communications), Tomizawa, Tetsuo (Univ. of Electoronics and Communications), Kudoh, Shunsuke (The University of Electro-Communications), Suehiro, Takashi (the University of Electro-Communications)

A New Strategy for Making a Knot with a General-Purpose Arm

Scheduled for presentation during the Interactive Session "Interactive Session WeA-1" (WeA110), Wednesday, May 16, 2012, 08:30−09:00, 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 Service Robots, Motion and Path Planning, Robotic Software, Middleware and Programming Environments

Abstract

This paper proposes a new strategy for making a knot with a general-purpose arm. The strategy is divided into four stages: First, a human-performed knotting action is analyzed to acquire some motion primitives. Second, based on these databases, the robot is taught to tie a knot. Third, key points on the stored trajectories are extracted. These key points are considered in a general case, and then used to implement the manipulation skills. Finally, knotting task is generated by synthesis of the manipulation skills. An overhand knot was made by the actual robot for the validity of the proposed method. This paper also describes a system for manipulating deformable objects (e.g. knotting a rope).

 

 

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