Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information

被引：32
|
作者：
Matsuno, Takayuki [1 ]
Tamaki, Daichi
Arai, Fumihito
Fukuda, Toshio
机构：
[1] Toyama Prefectural Univ, Toyama 9390398, Japan
[2] Nagoya Univ, Dept Micronano Syst Engn, Nagoya, Aichi 4648603, Japan
[3] Tohoku Univ, Dept Bioengn & Robot, Tohoku 9808577, Japan
[4] Nagoya Univ, Dept Micronano Syst Engn & Mech Sci & Engn, Nagoya, Aichi 4648603, Japan
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2006年 / 11卷 / 04期
基金：
日本学术振兴会;
关键词：
deformable object manipulation; graph structure; knot invariant; shape recognition;
D O I：
10.1109/TMECH.2006.878557
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical framework of error recovery for deformable object manipulation. We confirm the effectiveness of the methods through experiments.
引用
收藏
页码：401 / 408
页数：8
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