Casting control for hyper-flexible manipulation

Takahiro Suzuki, Yuji Ebihara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


Hyper-flexible elements like tethers and ropes will have various possibilities of novel manipulations. In this paper, casting and winding maipulation of hyper-flexible manipulators(HFM) is considered. The HFM is modeled and analyzed as an underactuated multi-link system connected by nonelastic passive joints. An iterative revision method of parameter identification and state estimation is proposed. The method obtains highly credible parameters and state profiles from comparatively roughly visually sampled data using dynamic simulation. Succeeded and failed results of casting motion are analyzed by simulation and an energy-like function of position and velocity of HFM tip is defined. A control method to determine actuation timing to efficiently increase the energy-like function is proposed.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Number of pages6
Publication statusPublished - 2007 Nov 27
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2007 IEEE International Conference on Robotics and Automation, ICRA'07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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