Knotting Manipulation of a Flexible Rope Using a High-speed Multifingered Hand and High-speed Visual and Tactile Sensory Feedback

• Yamakawa Yuji

  Graduate School of Information Science and Technology, The University of Tokyo

• Namiki Akio

  Graduate School of Engineering, Chiba University

• Ishikawa Masatoshi

  Graduate School of Information Science and Technology, The University of Tokyo

• Shimojo Makoto

  Department of Mechanical Engineering and Intelligent Systems, Univ. of Electro-Communications

Bibliographic Information

Other Title

• 高速多指ハンドと高速視触覚フィードバックを用いた柔軟紐の結び操作
• コウソク タシ ハンド ト コウソクシ ショッカク フィードバック オ モチイタ ジュウナンチュウ ノ ムスビ ソウサ

Abstract

This paper proposes a new strategy for making knots with a high-speed multifingered robot hand with tactile sensors and visual sensor. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. In loop production, the wrist joint angle control is proposed by using visual feedback with high-speed visual sensor. In addition, the dynamics of the rope permutation are analyzed, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown using one high-speed multifingered hand with tactile and visual sensors.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 27 (9), 1016-1024, 2009

  The Robotics Society of Japan

Keywords

• High-speed Multifingered Hand
• Flexible Rope
• Knotting

Details

• CRID: 1390001204726394880
• NII Article ID: 10026089645
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.27.1016
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 10498449
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10498449
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed