Paper Info
Title
One-Handed Knotting Of A Flexible Rope With A High-Speed Multifingered Hand Having Tactile Sensors
Abstract
This paper proposes a new strategy for making knots with a high-speed multifingered robot hand having tactile sensors. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. The dynamics of the rope permutation are analyzed in order to improve the success rate, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399379
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords
Field
DocType
feedback,feedback control,tactile sensors,tactile sensor
Robot hand,Computer science,Simulation,Permutation,Control engineering,Knot (unit),Rope,Tactile sensor
Conference
Citations 
PageRank 
References 
15
1.45
9
Authors
4
Name
Order
Citations
PageRank
Yuji Yamakawa18620.24
Akio Namiki239752.21
Masatoshi Ishikawa37812.52
Makoto Shimojo418342.59