NDLI: Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States

Content Provider	IEEE Xplore Digital Library
Author	Wakamatsu, H. Tsumaya, A. Arai, E. Hirai, S.
Copyright Year	2006
Description	Author affiliation: Dept. of Mater. & Manuf. Sci., Osaka Univ. (Wakamatsu, H.; Tsumaya, A.; Arai, E.)
Abstract	A planning method for unraveling deformable linear objects based on 2D information about their crossing states is proposed. In manipulation of a linear object, its raveling must be avoided. It takes much time to unravel it once it is raveled. Therefore, it is important to generate unraveling plans efficiently. First, an unraveling process of a linear object is represented a sequence of crossing state transitions. It can be generated on a computer if 3D information about the current crossing state is given. Second, the crossing sequence of a linear object, which corresponds to its 2D information, is categorized into two types: unravelable and not-unravelable. Third, a procedure to generate efficient unraveling processes based on unravelability of the crossing sequence is explained. Finally, examples of unraveling process generation with our developed system are demonstrated
Starting Page	3873
Ending Page	3878
File Size	248404
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281796
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Headphones Intelligent robots Manufacturing Materials requirements planning Cables Wires Yarn Joining processes Wrapping Manipulators crossing sequences linear objects manipulation planning unraveling
Content Type	Text
Resource Type	Article

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