鉤を備えた指に紐を巻き付けて結ぶスキルの構築

抄録

This study focuses on rope knotting by a dual-armed robot. In most previous studies, ropes were manipulated by grasping them with fingers, and the trajectory tended to be large especially when making a loop and threading the end of the rope through it, in order to allow room for the fingers to pass. In this study, we propose a new method to make a knot by winding a rope around an end-effector. This method allows for the creation of knots with smaller trajectories, making it possible to effectively create knots even with short ropes. First, we designed three basic skills and constructed a method for generating a knot-making procedure using them. As an experiment, we performed four types of knot tying using the proposed method and verified its effectiveness.