Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects

Wakamatsu, Hidefumi; Tsumaya, Akira; Arai, Eiji; Hirai, Shinichi

doi:10.1109/robot.2005.1570489

Cited by 20 publications

(16 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These knot programs were still written "by hand." Recently, Wakamatsu et al [22] proposed a manipulation planner for knotting/unknotting that generates such programs automatically. This planner has been implemented on a 6-DOF manipulator with a camera.…”

Section: Related Workmentioning

confidence: 99%

Path planning for deformable linear objects

2006

View full text Add to dashboard Cite

Abstract-We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. By restricting the planner to minimal-energy curves, the execution of a path becomes easier. Our curve representation is adaptive in the sense that the number of parameters automatically varies with the complexity of the underlying curve. We introduce a planner that computes paths from one minimal-energy curve to another such that all intermediate curves are also minimal-energy curves. This planner can be used as a powerful local planner in a sampling-based roadmap method. This makes it possible to compute a roadmap of the entire "shape space," which is not possible with previous approaches. Using a simplified model for obstacles, we can find minimal-energy curves of fixed length that pass through specified tangents at given control points. Our work has applications in cable routing, and motion planning for surgical suturing and snake-like robots.

show abstract

Section: Related Workmentioning

confidence: 99%

Path planning for deformable linear objects

2006

View full text Add to dashboard Cite

show abstract

“…Moreover, segments touch the outer region are referred to as outer segments, and segments do not touch as inner segments [5]. In Fig.6-(a-2), the left terminal segment is an inner segment.…”

Section: Procedures To Generate Efficient Unraveling Processesmentioning

confidence: 99%

“…Unknotting manipulation, i.e., the inverse of knotting manipulation, has been also studied. We have realized automatic planning and execution of knotting/unknotting manipulation [5]. Ladd et al developed an untangling planner for mathematical knots represented as closed piecewise linear curves [6].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States

Wakamatsu

Tsumaya

Arai

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-A planning method for unraveling deformable linear objects based on 2D information about their crossing states is proposed. In manipulation of a linear object, its raveling must be avoided. It takes much time to unravel it once it is raveled. Therefore, it is important to generate unraveling plans efficiently. First, an unraveling process of a linear object is represented a sequence of crossing state transitions. It can be generated on a computer if 3D information about the current crossing state is given. Second, the crossing sequence of a linear object, which corresponds to its 2D information, is categorized into two types: unravelable and not-unravelable. Third, a procedure to generate efficient unraveling processes based on unravelability of the crossing sequence is explained. Finally, examples of unraveling process generation with our developed system are demonstrated.

show abstract

“…Given that knot-tying occurs frequently during surgery, automating this challenging subtask is tackled by several groups (e.g. [2], [3], [4]). Furthermore, techniques for assisting the surgeon with visually guided instruments ( [5], [6], [7], [8]) and autonomously navigated endoscopic cameras have been developed (e.g.…”

Section: Introductionmentioning

confidence: 99%

Contour-based surgical instrument tracking supported by kinematic prediction

Staub¹,

Lenz²,

Panin³

et al. 2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

View full text Add to dashboard Cite

Abstract-Surgical tool tracking is an important key functionality for many high-level tasks in both robot-assisted and conventional minimally invasive surgery. Though the fields of application are similar in both surgery techniques (i.e. visually servoed instruments, workflow analysis or augmented reality), the kind of available information about the position and orientation of the surgical tool differ. In conventional laparoscopic surgery additional information to the images provides by the endoscopic camera can only be obtained by an external tracking system. In contrast, robotic systems provide angular informations from encoder readings that allow for a sufficient pose estimation and initialization of an image-based tracking algorithm. Our approach utilizes both encoder readings and visual information, in order to stabilize tracking in image space. The image-based tracking is supervised by means of the kinematic information and reinitialized in case of conflicting results. As tracking modality we utilize the Contracting Curve Density (CCD) algorithm that looks for maximal separation of local color statistics along the contour of a model.

show abstract

Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects

Cited by 20 publications

References 4 publications

Path planning for deformable linear objects

Path planning for deformable linear objects

Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States

Contour-based surgical instrument tracking supported by kinematic prediction

Contact Info

Product

Resources

About