Flexible Object Manipulation by Dual Manipulator System

  •  The rope is tied around a cylindrical pole by dual 6 D.O.F direct drive manipulators.
  • The manipulators confirm that the rope is grasped by both hands  using the force sensor.
  • A flexible object model and a CCD camera vision system are used to recognize the shape of the rope.

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    Dual Manipulator System                                                Simulation (OpenGL)

                                                Picture of Experiment