Manipulation Planning for Knotting Linear Objects with One Hand
Tsunenori Kato, Hidefumi Wakamatsu, Akira TSUMAYA, Eiji Arai · 2006
A planning method for linear object manipulation, especially knotting is shown. At first, topological states of a linear object are described. Next, transitions between states are defined. Then, we can generate possible sequences of state transition, from which, we can choose an adequate path from the initial state to the objective state. Furthermore, a method to determine the grasping points is proposed. In the fourth, a planning method is proposed. Finally, our system based on proposed methods is demonstrated These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.