Proposal of new topology information Face-list for manipulation planning of deformable string tying
| Autor: | Junxiang Wang, Tomoya Shirakawa, Tomotoshi Watanabe, Yuichiro Toda, Takayuki Matsuno |
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| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | SICE Journal of Control, Measurement, and System Integration, Vol 16, Iss 1, Pp 257-272 (2023) |
| Druh dokumentu: | article |
| ISSN: | 1884-9970 18824889 |
| DOI: | 10.1080/18824889.2023.2236367 |
| Popis: | Our research group has been focusing on the automation of string tying-untying operations by a robot. In this paper, shape abstraction data of a string named Face-list and an operation planning method with Face-list are proposed. In our planning method, string deformation is represented as a state transition of known topology representation P-data and proposed shape abstraction data Face-list. Face-list enables a robot to decide shape operations that can correctly generate a string deformation plan toward the target shape. In addition, an optimal current operation for changing the string toward the target shape is decided based on scoring the difficulty of total shape operations. The results of two experiments using the proposed method are reported in the final. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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