結び／解き操作を含めた線状物体のマニピュレーション

• 若松 栄史

  大阪大学大学院

• 妻屋 彰

  大阪大学大学院

• 荒井 栄司

  大阪大学大学院

• 平井 慎一

  立命館大学

書誌事項

タイトル別名

• Linear Object Manipulation Including Knotting/Unknotting
• ムスビ トキ ソウサ オ フクメタ センジョウ ブッタイ ノ マニピュレーション

抄録

A planning method for linear object manipulation including knotting/unknotting in the three-dimensional space is proposed. Firstly, topological states of a linear object are represented as sequences of crossing points including the crossing type at each crossing point. Secondly, transitions among crossing states are defined. They correspond to operations that change the number of crossing points or permute their sequence. Then, we can generate possible sequences of crossing state transitions, that is, possible manipulation processes from the initial state to a given objective state. Thirdly, a method for determination of actions, that is, grasping points and their moving direction, is proposed in order to realize derived manipulation processes. Furthermore, criteria for evaluation of manipulation processes are introduced in order to reduce the candidates of manipulation plans. Finally, it is demonstrated that our developed system based on the above method can generate and execute manipulation plans for untying an overhand knot.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 23 (3), 344-351, 2005

  一般社団法人 日本ロボット学会

キーワード

• Linear Objects
• Manipulation
• Knotting
• Planning

詳細情報

• CRID: 1390001204725833728
• NII論文ID: 10015532192
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.23.344
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 7325492
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7325492
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可