Topological Manipulation Planning for Knotting and Tightening of Deformable Linear Objects Based on Knot Theory

摘要

A planning method for knotting and tightening of deformable linear objects is proposed. Firstly, we briefly explain crossing state description and basic operations corresponding to crossing state transitions. Possible sequences of crossing state transitions, that is, possible manipulation processes can be generated once the initial and the objective states are given. Secondly, a method to determine grasping points and their moving direction is proposed in order to realize derived manipulation processes. Then, it is theoretically found that any knotting manipulation of a linear object placed on a table can be realized by an one-armed robot with three translational DOF and one rotational DOF. Thirdly, a planning method for tying tightly is established to complete a knot because the knot fulfills its fixing function after it is tightened. Finally, it is demonstrated that an one-armed robot system can plan and execute tying and tightening a slipknot.