Planning of Knotting Based on Manipulation Skills with Consideration of Robot Mechanism/Motion and Its Realization by a Robot Hand System

摘要

This paper demonstrates the relationship between the production process of a knot and manipulation skills. First, we define the description (rope intersections, grasp type and fixation positions) of a knot. Second, we clarify the characteristics of the manipulation skills from the viewpoint of the knot description. Next, in order to obtain the production process of the knot, we propose an analysis method based on the structure of the knot and the characteristics of the manipulation skills. Using the proposed analysis method, we analyzed eight kinds of knots, formed with a single rope, two ropes or a single rope and an object. Finally, in order to validate the production process obtained by the proposed analysis method, we show experimental results of an overhand knot and a half hitch produced by using a robot hand system.