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Rope handling by a robot with visual feedback

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Visual information is necessary for a robot to be able to manipulate flexible objects such as a rope because flexible objects change their shape during motion. Actually direct visual feedback and verification in three-dimensional space are the keys to performing successful manipulation of such flexible objects. In this paper, important problems in hand-eye coordination are discussed and a rope handling experiment is described. The hand-eye system consists of a robot vision system, a general purpose manipulator and a Lisp system. The main visual functions adopted in the experiment are local image processing along a linear region and stereo vision. The experiment involves the performance of tasks such as inserting a rope into a ring and tying a rope. By coordinating the general purpose arm with stereo vision, our robot succeeds in manipulating a flexible rope.
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Document Type: Research Article

Affiliations: Department of Mechanical Engineering, University of Tokyo, 3-1 Hongo 7-chome, Bunkyo-ku, Tokyo, Japan

Publication date: 01 January 1987

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