Knotting Rope by Learning from Visual Examples
نویسندگان
چکیده
In the field of deformable object manipulation, planning and manipulation methods have long been studied separately. Yet, to put together these methods to implement one whole manipulation system, a variety of implementational problems need to be solved. This work presents a new approach to implement a knot tying system. For the planning phase, we used the Knot Planning from Observation (KPO) paradigm, which generates plans based on visual examples demonstrated by humans. For manipulation, we developed a method to determine robot commands by extracting visual information from the examples obtained in the planning phase. This yields a simple solution to determine manipulation parameters. Experimental results are also reported, indicating that our proposed system solves some of the implementational problems in deformable object manipulation.
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