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In this study, we report the successful execution of in-air knotting of rope using a dual-arm two-finger robot based on deep learning.
M. Inaba, H. Inoue, ”Hand eye coordination in rope handling,” Journal of the Robotics Society of Japan, vol. 3, no. 6, pp. 538–547, 1985
1985
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F. A. Gers, J. Schmidhuber, ”Recurrent nets that time and count,” in Proc. of Int. Joint Conf. on Neural Netw., vol. 3, pp. 189–194, 2000
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T. Morita, J. Takamatsu, K. Ogawara, H. Kimura, K. Ikeuchi, ”Knot planning from observation,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3887–3892, 2003
2003
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T. Matsuno, D. Tamaki, F. Arai, T. Fukuda, ”Rope Structure Recognition for Manipulation Using Topological Model and Knot Invariant,” Journal of SICE, vol. 41, no. 4, pp. 366–372, 2005
2005
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H. Wakamatsu, E. Arai, S. Hirai, ”Knotting/Unknotting Manipulation of Deformable Linear Objects,” International Journal of Robotics Research, vol. 25, no. 4, pp. 371–395, 2006
2006
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H. Wakamatsu, A. Tsumaya, E. Arai, S. Hirai, ”Manipulation Planning for Unraveling Linear Objects,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2485–2490, 2006
2006
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G. E. Hinton, R. R. Salakhutdinov, ”Reducing the dimensionally of data with neural networks,” Science, vol. 313(5786), pp. 504–507, 2006
2006
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J. M. Shepard, M. C. Towner, J. Lei, ”Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2308–2315, 2010
2010
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S. Miller, J. Van Den Berg, M. Fritz, T. Darrel, K. Goldberg, P. Abbeel, ”A geometric approach to robotic laundry folding,” The International Journal of Robotics Research, vol. 31(2), pp. 249–267, 2012
2012
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J. C. Elbrechter, R. Haschke, H. Ritter, ”Folding paper with anthropomorphic robot hands using real-time physics-based modeling,” in Proc. of IEEE-RAS Int. Conf. on Humanoid Robots, pp. 210-215, 2012
2012
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P. Jiménez, ”Survey on model-based manipulation planning of deformable objects,” Robotics and computer-integrated manufacturing, vol. 28, no. 2, pp. 154–163, 2012
2012
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T. Matsubara, D. Shinohara, M. Kidode, ”Reinforcement learning of a motor skill for wearing a T-shirt using topology coordinates,” Advanced Robotics, vol. 27, no. 7, pp. 513–524, 2013
2013
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Y. Yamakawa, A. Namiki, M. Ishikawa, M. Shimojo, ”Dynamic high-speed knotting of a rope by a manipulator,” International Journal of Advanced Robotic Systems, vol. 10, no. 361, pp. 1–12, 2013
2013
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T. M. Caldwell, D. Coleman, N. Correll, ”Optimal parameter identification for discrete mechanical systems with application to flexible object manipulation,” in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 898–905, 2014
2014
Cited alongside, same era.
S. Kudoh, T. Gomi, R. Katano, T. Tomizawa, T. Suehiro, ”In-air Knotting of Rope by a Dual-arm Multi-finger Robot,” in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 6202–6207, 2015
2015
Cited alongside, same era.
R. Katano, T. Gomi, T. Tomizawa, S. Kudoh, T. Suehiro, ”Realization of Five Types of Tabletop Knotting with Dual-Arm Robot,” Journal of the Robotics Society of Japan, vol. 33, no. 7, pp. 505–513, 2015
2015
Cited alongside, same era.
J. Ba, D. P. Kingma, ”Adam: A method for stochastic optimization,” in Proc. of Int. Conf. on Learning Representations, 2015
2015
Cited alongside, same era.
D. Seita, N. Jamali, M. Laskey, R. Berenstein, A. K. Tanwani, P. Baskaran, S. Iba, J. Canny, K. Goldberg, ”Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making,” in Proc. of Int. Symp. on Robotics Research, 2019
2019
Later among the works it cites.
K. Kawaharazuka, T. Ogawa, J. Tamura, C. Nabeshima, ”Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2139–2145, 2019
2019
Later among the works it cites.
Y. Tsurumine, Y. Cui, E. Uchibe, T. Matsubara, ”Deep reinforcement learning with smooth policy update: Application to robotic cloth manipulation,” Robotics and Autonomous Systems, vol. 112, pp. 72–83, 2019
2019
Later among the works it cites.
A. Seo, M. Takizawa, S. Kudoh, T. Suehiro, ”Study on Tying of a Deformable Band-shaped Object by a Dual Arm Robot,” in Proc. of IEEE/SICE Int. Symp. on System Integration, pp. 79–84, 2019
2019
Later among the works it cites.
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Y. Gao, H. J. Chang, Y. Demiris, ”Iterative path optimisation for personalised dressing assistance using vision and force information,” in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4398–4403, 2016
2016
Cited alongside, same era.
A. Ganapathi, P. Sundaresan, B. Thananjeyan, A. Balakrishna, D. Seita, J. Grannen, M. Hwang, R. Hoque, J. E. Gonzalez, N. Jamali, K. Yamane, S. Iba, K. Goldberg ”Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics,” in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4398–4403, 2016
2016
Cited alongside, same era.
P. C. Yang, K. Sasaki, K. Suzuki, K. Kase, S. Sugano, T. Ogata, ”Repeatable Folding Task by Humanoid Robot Worker using Deep Learning,” IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 397–403, 2016
2016
Cited alongside, same era.
G. Canal, E. Pignat, G. Alenyà, S. Calinon, C. Torras, ”Joining high-level symbolic planning with low-level motion primitives in adaptive hri: Application to dressing assistance,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3273–3278, 2018
2018
Cited alongside, same era.
K. Suzuki, H. Mori, T. Ogata, ”Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3481–3488, 2018
2018
Cited alongside, same era.
D. Tanaka, S. Arnold, K. Yamazaki, ”EMD Net: An Encode-Manipulate-Decode Network for Cloth Manipulation,” IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1771–1778, 2018
2018
Cited alongside, same era.
J. Matas, S. James, A. S. Davison, ”Sim-to-Real Reinforcement Learning for Deformable Object Manipulation,” in Proc. of Conf. on Robot Learning, 2018
2018
Cited alongside, same era.
R. Calandra, A. Owens, D. Jayaraman, J. Lin, W. Yuan, J. Malik, E. H. Adelson, S. Levine, ”More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3300–3307, 2018
2018
Cited alongside, same era.
M. A. Lee, Y. Zhu, P. Zachares, M. Tan, K. Srinivasan, S. Savarese, L. Fei-Fei, A. Garg, J. Bohg, ”Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 8943–8950, 2019
2019
Later among the works it cites.
A. Wang, T. Kurutach, K. Liu, P. Abbeel, A. Tamar, ”Learning Robotic Manipulation through Visual Planning and Acting,” Robotics: Science and Systems Conf., 2019
2019
Later among the works it cites.
Y. Wu, W. Yan, T. Kurutach, L. Pint, P. Abbeel, ”Learning to Manipulate Deformable Objects without Demonstrations,” Robotics: Science and Systems Conf., 2020
2020
Later among the works it cites.
R. Jangir, G. Alenyà, C. Torras, ”Dynamic Cloth Manipulation with Deep Reinforcement Learning,” in Proc. of IEEE Int. Conf. on Robotics and Automation, 2020
2020
Later among the works it cites.
J. Grannen, P. Sundaresan, B. Thananjeyan, J. Ichnowski, A. Balakrishna, V. Viswanath, M. Laskey, J. E. Gonzalez, K. Goldberg, ”Learning Robot Policies for Untangling Dense Knots in Linear Deformable Structures,” in Proc. of Conf. on Robot Learning, 2020
2020
Later among the works it cites.
2020
Later among the works it cites.
A. Sasagawa, S. Sakaino, T. Tsuji, ”Imitation Learning Based on Bilateral Control for Human-Robot Cooperation,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6169–6176, 2020
2020
Later among the works it cites.
K. Suzuki, H. Mori, T. Ogata, ”Compensation for undefined behaviors during robot task execution by switching controllers depending on embedded dynamics in RNN,” IEEE Robotics and Automation Letters, 2021, acceptted
2021
Closest in time.
M. Kanamura, K. Suzuki, Y. Suga, T. Ogata, ”Development of a Basic Educational Kit for Robotic System with Deep Neural Networks,” Sensors, vol. 21, no. 11, pp. 3804–3824, 2021
2021
Closest in time.