書誌事項
- タイトル別名
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- String Untying Planning Based on Knot Theory and Algorithms to Generate the Motion of a Manipulator
- ムスビメ リロン ニ モトズク ヒモトキ ソウサ ノ ケイカクホウ ト マニピュレータ ノ ドウサ セイセイ アルゴリズム
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抄録
<p>Our research purpose is to estublish an automated manipulator system which can operate a deformable linear object. Especially, our research group has been focusing on the string shape operation by a robot. We devide process of shape operation into four phases. These are string shape reconstruction, planning of string shape operation, robot motion generation and execution of shape operation. In our previous study on string shape reconstruction, shape of a string was reconstructed from 3D point cloud data by proposed method. In this study, the planning method of string untying operation based on knot theory and the motion generation of a manipulator are proposed. Finally, the results of string untying experiment are reported. </p>
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 36 (6), 429-440, 2018
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390845712986815616
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- NII論文ID
- 130007434803
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 029171149
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可