Knot Tying with Single Piece Fixtures 单块固定的结.pptVIP

Knot Tying with Single Piece Fixtures Matthew Bell Devin Balkcom Dartmouth College Overview Why are we tying knots? Why use fixtures? Knot fixture design Experimental and analytical observations Autonomous knot tying Motivation Why do we want to tie knots? Textile manufacturing Fishing hook knots Surgical robotics Why is knot tying difficult? Often uses many DOFs and complex sensing Major issue is the flexibility of string Motivation How can we manipulate flexible materials? Scalability Speed Limited control Can we achieve these goals with a fixture? Fixturing as manipulation Fixturing gener