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The goal of this project is to establish the modeling method for deformable linear objects such as cords and tubes. Differential geometry method is developed so that bend, twist, and extension of a deformable linear object in 3D space can be described on a computer.
Recently, many deformable soft objects are involved in various products. For example, cables and cords are used in electric products and tubes and wires are found in automobiles. Reduction of lead time in the design and the manufacture of products requires the evaluation of deformed shape of the deformable soft parts involved in the product during the design phase. In this research, we have establish a modeling technique of deformable linear objects including cords and tubes. Our method has the following features:
- Differential geometry coordinates enable us to describe arbitrary deformations of deformable linear objects in 3D space including bend, twist, and extension.
- Energy-based approach enables us to compute the deformed shape stably.
Applying this method, we can compute the deformed shape of a linear object with bend, twist, and extension in 3D space. Moreover, interference between a linear object and other objects can be evaluated. This method has been applied to evaluate the deformation of electric power cables by gravity.
Book Chapters
- Shinichi Hirai,
Energy-Based Modeling of Deformable Linear Objects,
Dominik Henrich and Heinz Wörn eds., Robot Manipulation of Deformable Objects, 978-1447111931, Springer-Verlag, Advanced Manufacturing Series, pp.11-28, 10.1007/978-1-4471-0749-1_3, 2000
Articles
- Hidefumi Wakamatsu and Shinichi Hirai,
Static Modeling of Linear Object Deformation Based on Differential Geometry,
International Journal of Robotics Research, Vol.23, No.3, pp.293-311, 10.1177/0278364904041882, Mar., 2004
- Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, and Shinichi Hirai,
Modeling of Shape Bifurcation Phenomena in Manipulations of Deformable String Objects,
Advanced Robotics, Vol.15, No.8, pp.833-846, 10.1163/156855301317198151, 2001
Conferences
- Hidefumi Wakamatsu, Tatsuya Yamasaki,Akira Tsumaya, Eiji Arai, and Shinichi Hirai,
Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles,
Proc. 9th Int. Conf. on Control, Automation, Robotics and Vision, pp.1085-1090, 10.1109/ICARCV.2006.345300, Singapore, Dec. 5-8, 2006
- Hidefumi Wakamatsu, Kousaku Takahashi and Shinichi Hirai,
Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates,
Proc. IEEE Int. Conf. on Robotics and Automation, pp.1028-1033, 10.1109/ROBOT.2005.1570251, Barcelona, Spain, Apr. 18-22, 2005
- Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, Shinichi Hirai, Takeshi Yonezawa, and Shinichi Tokumoto,
Modeling of Hysteresis in Deformation of Rodlike Objects Toward Their Manipulation,
Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.203-208, 10.1109/IROS.2000.894605, Takamatsu, Japan, Oct. 31 - Nov. 5, 2000
- Hidefumi Wakamatsu, Shinichi Hirai, Brenan J. McCarragher, David Austin, Keiichi Shirase, and Eiji Arai,
Analysis of Hysteresis in Deformation of Rodlike Objects Toward Their Manipulation,
Proc. 4th Japan-France/2nd Asia-Europe Congress on Mechatronics, pp.412-416, Kokura, Japan, Oct. 6-8, 1998
- Hidefumi Wakamatsu, Takumi Matsumura, Eiji Arai, and Shinichi Hirai,
Dynamic Analysis of Rodlike Object Deformation towards Their Dynamic Manipulation,
Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.196-201, 10.1109/IROS.1997.649050, Grenoble, France, Sept. 7-11, 1997
- Shinichi Hirai and Hidefumi Wakamatsu,
Modeling of Deformable Strings with Bend, Twist, and Extension in 3D Space,
Proc. 2nd ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, pp.529-534, Vienna, Austria, Sept. 26-28, 1996
- Shinichi Hirai, Hidefumi Wakamatsu, and Kazuaki Iwata,
Towards a Task Planning for Deformable Object Manipulation - Formulation and Computation of Linear Object Deformation,
Proc. IEEE Int. Symp. on Assembly and Task Planning, pp.80-85, 10.1109/ISATP.1995.518754, Pittsburgh, PA, U.S.A., Aug. 10-11, 1995
- Hidefumi Wakamatsu, Shinichi Hirai, and Kazuaki Iwata,
Modeling of Linear Objects Considering Bend, Twist, and Extensional Deformations,
Proc. IEEE Int. Conf. on Robotics and Automation, Vol.1, pp.433-438, 10.1109/ROBOT.1995.525322, Nagoya, Japan, May 21-27, 1995
- Shinichi Hirai, Hidefumi Wakamatsu, and Kazuaki Iwata,
Modeling of Deformable Thin Parts for Their Manipulation,
Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.2955-2960, 10.1109/ROBOT.1994.350890, San Diego, CA, U.S.A., May 8-13, 1994
