Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis

In this paper, we examine the relationship between a knotting process and the individual skills of which a robot hand is capable. To determine the necessary hand skills required for knotting, we first analyzed the knotting action performed by a human subject. We identified loop production, rope permutation, and rope pulling skills. To take account of handling of the two ends of the rope, we added a rope moving skill. We determined the characteristics of these skills using an intersection-based description. The knotting process was examined based on the analysis of knots and the characteristics of the robot hand skills. Finally, we show experimental results of an overhand knot and a half hitch performed using a high-speed multifingered hand system.