It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.
