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Mass spring model for non-uniformed deformable linear object toward dexterous manipulation

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Abstract

Manipulation for deformable object is difficult in robotics. The deformation of the deformable object is not the same, despite the same manipulation. This is due to the difference in the object characteristics, which depend on knitting, material, etc. This leads to difficulties in the motion planning. We propose a method that estimates the string model by comparing the real string movement and simulated string movement in a certain manipulation repeatedly by trial and error. This method realizes several manipulations using unknown strings. But feasible range was limited to uniform strings. In this paper, we proposed string model for representing various kind of string. This model assumed that mass distribution is not uniform and bending properties is different depending on extraction and contraction. Where this model was applied to several non-uniform string and uniform string, we confirmed that the proposed model can express the actual string movement.

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Data availability

The data used in this study is available to interested researchers upon request. Please contact the corresponding author at tabata@irlab-uu.jp, to inquire about data access and provide a brief description of your research purpose.

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Author information

Authors and Affiliations

  1. Graduate School of Engineering, Utsunomiya University, 7-1-2, Yoto, Utsunomiya, 321-8585, Japan

    Kenta Tabata

  2. Graduate School of Natural Science and Technology, Kanazawa University, Kakuma, Kanazawa, Ishikawa, 9201192, Japan

    Hiroaki Seki, Tokuo Tsuji & Tatsuhiro Hiramitsu

Authors
  1. Kenta Tabata
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  2. Hiroaki Seki
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  3. Tokuo Tsuji
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  4. Tatsuhiro Hiramitsu
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Corresponding author

Correspondence to Kenta Tabata.

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This work was presented in part at the joint symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Beppu, Oita and Online, January 25-27, 2023).

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Tabata, K., Seki, H., Tsuji, T. et al. Mass spring model for non-uniformed deformable linear object toward dexterous manipulation. Artif Life Robotics 28, 812–822 (2023). https://doi.org/10.1007/s10015-023-00889-5

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  • DOI: https://doi.org/10.1007/s10015-023-00889-5

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