DocumentCode :
2411253
Title :
A new strategy for making a knot with a general-purpose arm
Author :
Trinh Van Vinh ; Tomizawa, Tetsuo ; Kudoh, Shunsuke ; Suehiro, Takashi
Author_Institution :
Dept. of Human Media Syst., Univ. of Electro-Commun., Chofu, Japan
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
2217
Lastpage :
2222
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).
Keywords :
dexterous manipulators; intelligent robots; motion control; deformable objects manipulation; general-purpose arm; human-performed knotting action; knot making; knotting task; manipulation skills; motion primitives; overhand knot; stored trajectories extraction; Education; Grasping; Humans; Robot kinematics; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224852
Filename :
6224852
Link To Document :
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