| Abstrakt: |
Handling physical ropes/strings is an important capability to enable robots for human interaction, surgery/suturing, and so on. This chapter will discuss the specific problem of untangling strings/ropes with finite thickness. The chapter discusses the motivation for this problem, the problem statement, the state of the art in this area, and the specific direction of this research. Subsequently, an outline of the rope simulator being developed, which is a prerequisite, is provided. A brief discussion on the employed rope model and handling of self-collisions is provided. [ABSTRACT FROM AUTHOR] |
