Motion planning for dynamic knotting of a flexible rope with a high-speed robot arm

Motion planning for dynamic folding of a cloth with two high-speed robot hands and two high-speed sliders

“…We have previously demonstrated the possibility that the deformation model of a flexible rope can be approximated by an algebraic equation by taking advantage of high-speed robot motion [7]. In the present paper, the deformation model of the cloth will be described based on those results.…”

“…In a previous paper [7], we demonstrated that the deformation model of a linear flexible object can be approximated by an algebraic equation by taking advantage of the high-speed motion of the robot.…”

“…Here, as an extension of our previous work [7], we study dynamic manipulation of a sheet-like flexible object. More concretely, we consider dynamic folding of a cloth held in the air, as shown in Fig.…”

“…As described above, flexible objects have been manipulated typically in a static manner with slow motions of the robot, and high-speed manipulation of flexible objects has been infeasible thus far. In order to achieve highspeed, dynamic manipulation of a flexible object and to solve the above problems, we have demonstrated dynamic knotting manipulation of a flexible rope [7]. In that study, we proposed a simple rope deformation model (algebraic equation) that takes advantage of high-speed robot motion, Y.…”

“…First, we extract the necessary motions in order to achieve the task by analyzing the dynamic folding performed by a human subject. Second, we construct a simple deformation model of the cloth by extending the previous rope model [7]. Third, we discuss a motion planning method based on the proposed model.…”