Tying knot precisely
Tying knot precisely
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精确打结
DOI：
10.1109/icra.2016.7487548
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Devin J. Balkcom
中科院分区：
文献类型：
--
作者：
Weifu Wang;Devin J. Balkcom
简单地拉绳子的末端就足以拉紧简单的结，如上手结，但许多用于装饰或捆绑的结需要在绳子上的特定位置拉紧。例如，鞋带结应该有相同大小的蝴蝶结，装饰性的三叶草结应该有相同大小的蝴蝶结。系在测深线上的结(历史上用来测量海洋深度)必须放置在精确的距离上。对打结的精确控制还可以避免复杂的打结。本文探索了一种精确打结的方法，使摩擦锁出现在绳子上的特定位置。首先，使用手臂和专门的夹持器将结放置在夹具上；然后，当拉动绳子以拧紧结时，夹具收缩。这是我们所知的第一个专注于精确打结(而不是松散排列)的机器人操纵工作，并提出了一个相当复杂的装饰性打结--如意打结--作为概念的证明。每个夹具都特定于特定的结，但使用所提出的算法进行自动设计。
Simply pulling on the ends of string is sufficient to tighten simple knots such as the overhand knot, but many knots used for decoration or binding need to be tightened at particular locations along the string. For example, a shoelace knot should have equally-sized bows, as should a decorative cloverleaf knot. Knots tied in sounding lines (historically used to measure depth in the ocean) must be placed at precise distances apart. Precise control of tying also allows tangling to be avoided in complex knots. This paper explores an approach to tying knots precisely, so that friction locks occur at specified locations along the string. First, the knot is laid out on a fixture using an arm and a specialized gripper; then, the fixture contracts as string is pulled to tighten the knot. This is the first work we know of in robotic manipulation focused on precise knot tightening (rather than loose arrangement), and presents tying of a fairly complex decorative knot, the Ruyi knot, as a proof of concept. The fixtures are each specific to particular knots, but are designed automatically using the algorithm presented.