Manipulation of Deformable Linear Objects Heads: Shinichi Hirai Contact: "Hidefumi Wakamatsu" Date: 2000 - Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

In this research, we will explore the manipulation of deformable linear objects such as cables, cords, and tubes. Based on linear object modeling, we will establish control strategy to perform the manipulation of linear objects.

Deformable linear objects such as cables, cords, and tubes are widely used in various products. These objects deform easily, making their manipulation difficult. The aim of this research is to realize linear object manipulation performed by robotic systems. Based on the research on linear object modeling, we will explore manipulation strategy that utilizes object deformation.

Unknotting of linear object by a single SCARA robot

Personnel

	Name	Title	Degree
	Hidefumi Wakamatsu	Osaka University	Ph.D

Publications

• Hidefumi Wakamatsu, Tsunenori Kato, Akira Tsumaya, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Planning of Knotting Manipulation, Eiji Arai and Tatsuo Arai eds., Mechatronics for Safety, Security and Dependability in a New Era, 978-0-08-044963-0, Elsevier Science Ltd, pp.87-92, 2006

• Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai, Knotting/Unknotting Manipulation of Deformable Linear Objects, International Journal of Robotics Research, Vol.25, No.4, pp.371-395, 10.1177/0278364906064819, Apr., 2006

• Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Manipulation Planning for Unraveling Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2485-2490, 10.1109/ROBOT.2006.1642075, Orlando, FL, U.S.A., May 15-19, 2006
• Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3873-3878, 10.1109/IROS.2006.281796, Beijing, China, Oct. 9-15, 2006
• Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2505-2510, 10.1109/ROBOT.2005.1570489, Barcelona, Spain, Apr. 18-22, 2005
• Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Planning of One-Handed Knotting/Raveling Manipulation of Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1719-1725, 10.1109/ROBOT.2004.1308072, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
• Hidefumi Wakamatsu, Akira Tsumaya, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Knotting/Raveling Manipulation of Linear Objects, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3156-3161, 10.1109/IROS.2003.1249642, Las Vegas, NV, U.S.A., Oct. 27-31, 2003
• Hidefumi Wakamatsu, Ryo Teramoto,R, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Deformation Modeling and Path Generation for Linear Object Manipulation, Proc. World Multiconference on Systemics, Cybernetics and Infomatics, pp.112-117, Orlando, FL, U.S.A., July 22-25, 2001
• Hidefumi Wakamatsu, Shinichi Hirai, and Kazuaki Iwata, Static Analysis of Deformable Object Grasping Based on Bounded Force Closure, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3324-3329, 10.1109/ROBOT.1996.509219, Minneapolis, MN, U.S.A., Apr. 22-28, 1996

Notes

Album

Unknotting linear object (mpg 54.6MB)

Related Sites