The synthesis of cloth objects
SIGGRAPH '86 Proceedings of the 13th annual conference on Computer graphics and interactive techniques
A case study of flexible object manipulation
International Journal of Robotics Research
Robot Manipulation of Deformable Objects: Advanced Manufacturing
Robot Manipulation of Deformable Objects: Advanced Manufacturing
A Human-Robot Collaborative Reinforcement Learning Algorithm
Journal of Intelligent and Robotic Systems
Modeling deformations of general parametric shells grasped by a robot hand
IEEE Transactions on Robotics
Survey on model-based manipulation planning of deformable objects
Robotics and Computer-Integrated Manufacturing
Manipulation of Flexible Objects by Geodesic Control
Computer Graphics Forum
International Journal of Robotics Research
International Journal of Robotics Research
Hi-index | 0.01 |
Here, we propose a planning method for knotting/unknotting of deformable linear objects. First, we propose a topological description of the state of a linear object. Second, transitions between these states are defined by introducing four basic operations. Then, possible sequences of crossing state transitions, i.e. possible manipulation processes, can be generated once the initial and the objective states are given. Third, a method for determining grasping points and their directions of movement is proposed to realize derived manipulation processes. Our proposed method indicated that it is theoretically possible for any knotting manipulation of a linear object placed on a table to be realized by a one-handed robot with three translational DOF and one rotational DOF. Furthermore, criteria for evaluation of generated plans are introduced to reduce the candidates of manipulation plans. Fourth, a planning method for tying knots tightly is established because they fulfill their fixing function by tightening them. Finally, we report knotting/unknotting manipulation performed by a vision-guided system to demonstrate the usefulness of our approach.