Knotting task execution based a hand-rope relation
TV Vinh, T Tomizawa, S Kudoh, T Suehiro - Advanced Robotics, 2017 - Taylor & Francis
In this paper, we focus on relationship between the rope and fingers to implement a knot and
estimate error occurred during execution of knotting task. In the previous work, the authors
have proposed a method for making various knots from synthesis of basic operations called
skills that are derived from analyzing the knotting processes. Each individual skill has an
operation to handle the rope and conditions for executing and completing the task skill. By
combining these skills, we can make the whole knotting process robust. In this paper, the …
estimate error occurred during execution of knotting task. In the previous work, the authors
have proposed a method for making various knots from synthesis of basic operations called
skills that are derived from analyzing the knotting processes. Each individual skill has an
operation to handle the rope and conditions for executing and completing the task skill. By
combining these skills, we can make the whole knotting process robust. In this paper, the …
[PDF][PDF] Knotting Task Execution Based a Hand-Rope Relationship
TVAN VINH - 2019 - core.ac.uk
There are many deformable objects in our daily life, such as papers, clothes, and ropes;
cables, and electric wires in manufacture and sutures in medical surgery. There is
increasing need in the field for the ability to manipulate such deformable objects. In
conventional research, a great number of researchers have focused on rigid objects with
simple, regular shapes. Rigid objects remain nearly unchanged in shape and object
geometry is usually very predictable. Conventional robot and robot programming languages …
cables, and electric wires in manufacture and sutures in medical surgery. There is
increasing need in the field for the ability to manipulate such deformable objects. In
conventional research, a great number of researchers have focused on rigid objects with
simple, regular shapes. Rigid objects remain nearly unchanged in shape and object
geometry is usually very predictable. Conventional robot and robot programming languages …
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