Representation of Knot Tying Tasks for Robot Execution

• Takamatsu Jun

  The University of Tokyo

• Morita Takuma

  Sony Corporation

• Ogawara Koichi

  The University of Tokyo

• Kimura Hiroshi

  The University of Electro-communications

• Ikeuchi Katsushi

  The University of Tokyo

Bibliographic Information

Other Title

• ロボットによる実行を目的とした紐結び作業の記述
• ロボット ニ ヨル ジッコウ オ モクテキ ト シタ ヒモ ムスビ サギョウ ノ キジュツ

Abstract

TheLearning from Observation (LFO) paradigm has been widely applied in various types of robot systems. It helps reduce the work of the programmer. However, so far, the available systems have application limited to rigid objects. Deformable objects are not considered, because: (1) it is difficult to describe their states and (2) too many operations are possible on them. In this paper, we choose knot-tying tasks as case study for operating on deformable objects, since theknot theoryis available and since types of operations are limited. In actuality, we introduce an appropriate representation for describing knot's states and define four types of operations enough to realize any knot-tying tasks.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 23 (5), 572-582, 2005

  The Robotics Society of Japan

Keywords

• Learning from Observation
• Knot-tying Task

Details

• CRID: 1390001204726022656
• NII Article ID: 10016591209
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.23.572
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 7423577
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7423577
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed