Hidefumi Wakamatsu

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Here, we propose a planning method for knotting/unknotting of deformable linear objects. First, we propose a topological description of the state of a linear object. Second, transitions between these states are defined by introducing four basic operations. Then, possible sequences of crossing state transitions, i.e. possible manipulation processes, can be(More)
A systematic approach to modeling of deformable soft parts for their manipulation is presented. Various deformable parts such as cords, leather products, and sheet metals are manipulated and are handled in a lot of manufacturing processes. Deformation of these parts is often utilized in order to manipulate them successfully while the manipulation sometimes(More)
This paper describes the dynamic modeling of linear object deformation based on differential geometry coordinates. Deformable linear objects such as cables and strings are widely used in our daily life, electric industries, medical operations. Modeling, control, and manipulation of deformable linear objects are keys to many applications. We have proposed(More)
We describe the modeling of linear object deformation based on differential geometry and its applications to manipulative operations. A particle-based approach, the finite element method, and the Cosserat theory have been applied to the modeling of linear object deformation. In this paper, we establish an alternative modeling approach based on an extension(More)
A systematic approach to the modeling of deformable ne linear objects is presented. Various deformable objects are manipulated in many manufacturing processes. Deformation of these objects is often utilized in order to manipulate them successfully while the manipulation sometimes fails because of unexpected deformation of the objects. Modeling of deformable(More)
A static analysis of deformable object grasping based on bounded force closure is presented. There are many manipulative operations that deal with deformable objects in manufacturing processes. Manipulative operations for these objects are often performed by utilizing their deformation actively while the operations may result in failure because of(More)
A planning method for knotting/unknotting and tightening manipulation of deformable linear objects is proposed. It is important for linear object manipulation in industrial/medical field to analyze knotting. Modeling of knotting/unknotting process is useful for design of knotting/unknotting system with different mechanism from human arms/hands and(More)
A planning method for linear object manipulation including knotting/unknotting by one hand is proposed. Firstly, topological states of a linear object are represented as finite permutations of crossing points. Secondly, transitions among topological states are defined. Then, we can generate possible sequences of state transitions, that is, possible(More)
A differential geometry based modeling to represent belt object deformation is proposed. Deformation of a belt object such as film circuit boards or flexible circuit boards must be estimated for automatic manipulation and assembly. First, the fishbone model to describe deformation of a rectangular belt object is explained. In this model, the object shape is(More)