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Published in:
2005 | OriginalPaper | Chapter
Manipulation Planning for Knotting Linear Objects with One Hand
Authors : Tsunenori Kato, Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai
Published in: Knowledge Sharing in the Integrated Enterprise
Publisher: Springer US
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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