“Motion Planning for Dynamic Knotting of a Flexible Rope With a High-Speed Robot Arm”, Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa2010-10-18 (robotics; backlinks)⁠:

[cf. Yamakawa et al 2011, delta robots] In this paper, we propose an entirely new strategy for dexterous manipulation of a linear flexible object with a high-speed robot arm.

…In our laboratory, batting, dribbling, dynamic regrasping, and pen spinning have been achieved by using high-speed robot and high-speed visual and tactile sensory feedback.

…The strategy involves manipulating the object at high speed. By moving the robot at high speed, we can assume that the dynamic behavior of the linear flexible object can be obtained by performing algebraic calculations of the robot motion. Based on this assumption, we derive a model of the linear flexible object and confirm the validity of the proposed model. Finally, we perform simulation of dynamic knotting based on the proposed model.

Results: of an experiment demonstrating dynamic knotting with a high-speed robot arm are shown.

“All processes that are stable we shall predict. All processes that are unstable we shall control.”

John von Neumann

See Also:

• Surprisingly Robust In-Hand Manipulation: An Empirical Study

• Learning Dexterous In-Hand Manipulation

• Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

• Gaussian Processes for Data-Efficient Learning in Robotics and Control

• Versatile articulated aerial robot DRAGON: Aerial manipulation and grasping by vectorable thrust control

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