トポロジカルモデルと結び目不変量を用いたマニピュレーションのためのロープの形状認識 Rope Structure Recognition for Manipulation Using Topological Model and Knot Invariant

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Author(s)

    • 松野 隆幸 MATSUNO Takayuki
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Naogya University, Department of Micro-Nano Systems Engineering
    • 玉置 大地 TAMAKI Daichi
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Naogya University, Department of Micro-Nano Systems Engineering
    • 新井 史人 ARAI Fumihito
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Naogya University, Department of Micro-Nano Systems Engineering
    • 福田 敏男 FUKUDA Toshio
    • 名古屋大学大学院工学研究科マイクロ・ナノシステム工学専攻 Naogya University, Department of Micro-Nano Systems Engineering

Abstract

There are many deformable objects such as papers, clothes, and ropes in life space of a person. Robots need skills to manipulate deformable objects, in order to take active parts in such space. However, it is difficult for robots to manipulate deformable objects well and possibility of failure to operate deformable objects cannot be denied. Therefore theoretical framework of error recovery for deformable object manipulation is required. For error recovery system, it is necessary to abstract profitable data from deformable objects, which are hyper degrees of freedom structures. Thus in this paper, we propose the description method of the condition of rope using the topological model and knot theory. And, we also propose the recognition method to obtain the structure of rope from visual information when a robot manipulates a rope. The effectiveness of method is confirmed by the experiment.

Journal

  • Transactions of the Society of Instrument and Control Engineers

    Transactions of the Society of Instrument and Control Engineers 41(4), 366-372, 2005

    The Society of Instrument and Control Engineers

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