Linear Object Manipulation Including Knotting/Unknotting

Towards a Task Planning for Deformable Object Manipulation { Formulation and Computation of Linear Object Deformation

A systematic approach to the static analysis of deformation of linear objects such as cords and ropes is presented. There exists many manipulative operations that deal with deformable objects in environments that robots are expected to take active parts, while rigid object manipulation has been a main interest in most of the task planning researches. Manipulative operations that deal with defor...

Object Manipulation in

Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled...

Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

GRASPY – Object Manipulation with NAO

In this paper we introduce an online object manipulation system for the NAO robot that is able to detect and grasp an object out of a human hand and then give it back in real-time. Known objects are rendered from 3D models and detected stereo contour-based by using a new stereo vision head for NAO. In order to grasp objects, motion trajectories are generated by an A* planner while avoiding obst...