Rope Manipulation

This research group aims to have a robot perform the knotting operation, which is one of the line flexible object manipulation operations. We are studying the extraction of elements necessary for knotting, construction of a system to teach the robot, generation of arbitrary shapes, and realization of various knot-tying operations using sensors.

Research Poster (in Japanese)


A multi-DOF hand and basic motions

  1. Collision avoidance using multiple DOFs
  2. In-air knotting using recognition
  3. Laerning from Demonstration of tabletop knotting
  4. Knotting using the simultaneous transfer skill