Casting manipulation with non uniform string by robot arm

Abstract

Manipulation of deformable objects has been studied for many years in dexterous manipulation. Casting manipulation is an example of deformable linear object manipulation, in which a special device is attached to a string and the robot manipulate object from a long distance. In this study, we propose a method to realize casting manipulation on a non-uniform string whose characteristics are unknown, by repeating motion generation, actual manipulation and parameter estimation to estimate the characteristics of the string, including its mass distribution.