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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224852