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Browse Conference Publications > Robotics and Automation, 2006 ... Help

Manipulation planning for unraveling linear objects

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4 Author(s)
Wakamatsu, H. ; Dept. of Mater. & Manuf. Sci., Osaka Univ. ; Tsumaya, A. ; Arai, E. ; Hirai, S.

A planning method for unraveling manipulation of deformable linear objects 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, a manipulation process of a linear object including its unraveling is represented as a sequence of its crossing state transitions. Then, possible manipulation processes can be generated once the initial and the objective crossing states are given. Second, qualitative actions to realize manipulation processes are determined. Third, a method for unraveling a linear object as far as possible when its crossing state can not be identified completely is proposed. Finally, an example of unraveling process generation is demonstrated

Published in:
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference: 15-19 May 2006

Page(s):
2485 - 2490
ISSN :
1050-4729
Print ISBN:
0-7803-9505-0
INSPEC Accession Number:
9120159
Conference Location :
Orlando, FL
Digital Object Identifier :
10.1109/ROBOT.2006.1642075
Product Type:
Conference Publications

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