NDLI: A new strategy for making a knot with a general-purpose arm

Content Provider	IEEE Xplore Digital Library
Author	Trinh Van Vinh Tomizawa, T. Kudoh, S. Suehiro, T.
Copyright Year	2012
Description	Author affiliation: Dept. of Human Media Systems, Univ. of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan (Trinh Van Vinh; Tomizawa, T.; Kudoh, S.; Suehiro, T.)
Abstract	This paper proposes a new strategy for making a knot with a general-purpose arm. The strategy is divided into four stages: First, a human-performed knotting action is analyzed to acquire some motion primitives. Second, based on these databases, the robot is taught to tie a knot. Third, key points on the stored trajectories are extracted. These key points are considered in a general case, and then used to implement the manipulation skills. Finally, knotting task is generated by synthesis of the manipulation skills. An overhand knot was made by the actual robot for the validity of the proposed method. This paper also describes a system for manipulating deformable objects (e.g. knotting a rope).
Starting Page	2217
Ending Page	2222
File Size	1379961
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224852
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Grasping Trajectory Humans Education Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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