{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,28]],"date-time":"2025-05-28T04:17:50Z","timestamp":1748405870247,"version":"3.41.0"},"publisher-location":"Cham","reference-count":43,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319165943"},{"type":"electronic","value":"9783319165950"}],"license":[{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015]]},"DOI":"10.1007\/978-3-319-16595-0_39","type":"book-chapter","created":{"date-parts":[[2015,4,29]],"date-time":"2015-04-29T13:42:10Z","timestamp":1430314930000},"page":"677-694","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Towards Arranging and Tightening Knots and Unknots with Fixtures"],"prefix":"10.1007","author":[{"given":"Weifu","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew P.","family":"Bell","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Devin","family":"Balkcom","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,4,30]]},"reference":[{"key":"39_CR1","volume-title":"The Knot Book: An Elementary Introduction to the Mathematical Theory of Knots","author":"CC Adams","year":"2004","unstructured":"Adams, C.C.: The Knot Book: An Elementary Introduction to the Mathematical Theory of Knots. American Mathematical Society, Providence (2004)"},{"key":"39_CR2","first-page":"275","volume":"20","author":"JW Alexander","year":"1923","unstructured":"Alexander, J.W.: Topological invariants of knots and links. Trans. Am. Math. Soc. 20, 275\u2013306 (1923)","journal-title":"Trans. Am. Math. Soc."},{"key":"39_CR3","doi-asserted-by":"crossref","unstructured":"Alterovitz, R., Goldberg, K., Pouliot, J., Tascherau, R., Hsu, I-C.: Sensorless planning for medical needle insertion procedures. In: IROS, pp. 3337\u20133343. IEEE (2003)","DOI":"10.1109\/IROS.2003.1249671"},{"key":"39_CR4","doi-asserted-by":"crossref","unstructured":"Alterovitz, R., Lim, A., Goldberg, K.Y., Chirikjian, G.S., Okamura, A.M.: Steering flexible needles under Markov motion uncertainty. In: IROS, pp. 1570\u20131575. IEEE (2005)","DOI":"10.1109\/IROS.2005.1544969"},{"key":"39_CR5","series-title":"K & E Series on Knots and Everything","doi-asserted-by":"crossref","DOI":"10.1142\/4104","volume-title":"The Mystery of Knots: Computer Programming for Knot Tabulation","author":"CN Aneziris","year":"1999","unstructured":"Aneziris, C.N.: The Mystery of Knots: Computer Programming for Knot Tabulation. K & E Series on Knots and Everything. World Scientific, Singapore (1999)"},{"issue":"1","key":"39_CR6","doi-asserted-by":"publisher","first-page":"57","DOI":"10.1080\/10586458.2011.544581","volume":"20","author":"T Ashton","year":"2011","unstructured":"Ashton, T., Cantarella, J., Piatek, M., Rawdon, E.: Knot tightening by constrained gradient descent. Exp. Math. 20(1), 57\u201390 (2011)","journal-title":"Exp. Math."},{"key":"39_CR7","unstructured":"Attaway, S.W.: The mechanics of friction in rope rescue. In: International Technical Rescue Symposium (1999)"},{"key":"39_CR8","doi-asserted-by":"crossref","unstructured":"Balkcom, D.J., Trinkle, J.C., Gottlieb, E.J.: Computing wrench cones for planar contact tasks. In: ICRA, pp. 869\u2013875. IEEE (2002)","DOI":"10.1109\/ROBOT.2002.1013466"},{"issue":"4","key":"39_CR9","doi-asserted-by":"publisher","first-page":"547","DOI":"10.1140\/epjb\/e2008-00443-y","volume":"66","author":"J Baranska","year":"2008","unstructured":"Baranska, J., Przybyl, S., Pieranski, P.: Curvature and torsion of the tight closed trefoil knot. Eur. Phys. J. B\u2014Condens. Matter Complex Syst. 66(4), 547\u2013556 (2008)","journal-title":"Eur. Phys. J. B\u2014Condens. Matter Complex Syst."},{"key":"39_CR10","unstructured":"Bell, M.P.: Flexible Object Manipulation. Technical Report TR2010-663, Dartmouth College, Computer Science, Hanover, NH, February 2010"},{"key":"39_CR11","doi-asserted-by":"crossref","unstructured":"Bell, M.P., Wang, W., Kunzika, J., Balkcom, D.: Knot-tying with four-piece fixtures. To Appear on IJRR (2014)","DOI":"10.1177\/0278364914532217"},{"key":"39_CR12","doi-asserted-by":"crossref","unstructured":"Berard, S., Egan, K., Trinkle, J.C.: Contact modes and complementary cones. In: ICRA, pp. 5280\u20135286 (2004)","DOI":"10.1109\/ROBOT.2004.1302556"},{"key":"39_CR13","unstructured":"Bespamyatnikh, S.: Computing homotopic shortest paths in the plane. In: SODA, pp. 609\u2013617. ACM\/SIAM (2003)"},{"key":"39_CR14","doi-asserted-by":"crossref","unstructured":"Bhattacharya, S., Likhachev, M., Kumar, V.: Identification and representation of homotopy classes of trajectories for search-based path planning in 3d. In: Durrant-Whyte, H.F., Roy, N., Abbeel, P. (eds.) Robotics: Science and Systems (2011)","DOI":"10.15607\/RSS.2011.VII.002"},{"issue":"10","key":"39_CR15","doi-asserted-by":"publisher","first-page":"808","DOI":"10.1177\/02783640122068119","volume":"20","author":"SJ Blind","year":"2001","unstructured":"Blind, S.J., McCullough, C.C., Akella, S., Ponce, J.: Manipulating parts with an array of pins: a method and a machine. Int. J. Robot. Res. 20(10), 808\u2013818 (2001)","journal-title":"Int. J. Robot. Res."},{"key":"39_CR16","unstructured":"Burns, J., Fung, A.: Shoelace knot assisting device, May 2006"},{"key":"39_CR17","unstructured":"Champion, M.: Knot tying device, November 2004"},{"issue":"3","key":"39_CR18","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.comgeo.2006.03.003","volume":"35","author":"A Efrat","year":"2006","unstructured":"Efrat, A., Kobourov, S.G., Lubiw, A.: Computing homotopic shortest paths efficiently. Comput. Geom. 35(3), 162\u2013172 (2006)","journal-title":"Comput. Geom."},{"key":"39_CR19","unstructured":"Furst, M.L., Goldberg, K.Y.: Low friction gripper, 24 March 1992. US Patent 5,098,145"},{"key":"39_CR20","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1007\/3-540-62495-3_49","volume-title":"Graph Drawing","author":"A Garg","year":"1996","unstructured":"Garg, A., Tamassia, R.: A new minimum cost flow algorithm with applications to graph drawing. In: North, S.C. (ed.) Graph Drawing. Lecture Notes in Computer Science, vol. 1190, pp. 201\u2013216. Springer, New York (1996)"},{"key":"39_CR21","volume-title":"Classical Mechanics","author":"H Goldstein","year":"2002","unstructured":"Goldstein, H., Poole Jr, C.P., Safko, J.L.: Classical Mechanics. Pearson Education, Upper Saddle River (2002)"},{"key":"39_CR22","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"114","DOI":"10.1007\/3-540-63163-1_9","volume-title":"AAECC","author":"D Grigoriev","year":"1997","unstructured":"Grigoriev, D., Slissenko, A.: Computing minimum-link path in a homotopy class amidst semi-algebraic obstacles in the plane. In: Mora, T., Mattson, H.F. (eds.) AAECC. Lecture Notes in Computer Science, vol. 1255, pp. 114\u2013129. Springer, New York (1997)"},{"key":"39_CR23","doi-asserted-by":"crossref","unstructured":"Grigoriev, D., Slissenko, A.: Polytime algorithm for the shortest path in a homotopy class amidst semi-algebraic obstacles in the plane. In: Weispfenning, V., Trager, B.M. (eds.) ISSAC, pp. 17\u201324. ACM (1998)","DOI":"10.1145\/281508.281528"},{"key":"39_CR24","doi-asserted-by":"publisher","first-page":"399","DOI":"10.1090\/S0894-0347-01-00358-7","volume":"14","author":"J Hass","year":"2001","unstructured":"Hass, J., Lagarias, J.: The number of Reidemeister moves needed for unknotting. J. Am. Math. Soc. 14, 399\u2013428 (2001)","journal-title":"J. Am. Math. Soc."},{"key":"39_CR25","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1007\/s00454-009-9156-4","volume":"44","author":"J Hass","year":"2010","unstructured":"Hass, J., Nowik, T.: Unknot diagrams requiring a quadratic number of Reidemeister moves to untangle. Discret. Comput. Geom. 44, 91\u201395 (2010)","journal-title":"Discret. Comput. Geom."},{"key":"39_CR26","unstructured":"Hayashi, C., Hayashi, M.: Unknotting number and number of Reidemeister moves needed for unlinking. pp. 1\u201310, arxiv:1021.4131 (2010)"},{"key":"39_CR27","unstructured":"Henrich, A., Kauffman, L.H.: Unknotting unknots. ArXiv e-prints, June 2010"},{"key":"39_CR28","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1016\/0925-7721(94)90010-8","volume":"4","author":"J Hershberger","year":"1994","unstructured":"Hershberger, J., Snoeyink, J.: Computing minimum length paths of a given homotopy class. Comput. Geom. 4, 63\u201397 (1994)","journal-title":"Comput. Geom."},{"key":"39_CR29","unstructured":"Inoue, H., Inaba, M.: Hand-eye coordination in rope handling. In: Robotics Research: The First International Symposium, pp. 163\u2013174 (1985)"},{"issue":"3","key":"39_CR30","doi-asserted-by":"publisher","first-page":"371","DOI":"10.1016\/S0957-4158(99)00047-1","volume":"10","author":"M Kudo","year":"2000","unstructured":"Kudo, M., Nasu, Y., Mitobe, K., Borovac, B.: Multi-arm robot control system for manipulation of flexible materials in sewing operation. Mechatronics 10(3), 371\u2013402 (2000)","journal-title":"Mechatronics"},{"issue":"4","key":"39_CR31","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1137\/S0036144593253290","volume":"38","author":"J Langer","year":"1996","unstructured":"Langer, J., Singer, D.A.: Lagrangian aspects of the Kirchhoff elastic rod. SIAM Rev. 38(4), 605\u2013618 (1996)","journal-title":"SIAM Rev."},{"key":"39_CR32","series-title":"Graduate Texts in Mathematics","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0691-0","volume-title":"An Introduction to Knot Theory","author":"WBR Lickorish","year":"1997","unstructured":"Lickorish, W.B.R.: An Introduction to Knot Theory. Graduate Texts in Mathematics. Springer, New York (1997)"},{"key":"39_CR33","doi-asserted-by":"crossref","unstructured":"Maddocks, J.H., Carlen, M., Laurie, B., Smutny, J.: Biarcs, global radius of curvature, and the computation of ideal knot shapes. Physical and Numerical Models in Knot Theory. Series Knots Everything, vol. 36, pp. 75\u2013108 (2005)","DOI":"10.1142\/9789812703460_0005"},{"key":"39_CR34","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/4527.001.0001","volume-title":"Mechanics of Robotic Manipulation","author":"MT Mason","year":"2001","unstructured":"Mason, M.T.: Mechanics of Robotic Manipulation. MIT Press, Cambridge (2001)"},{"key":"39_CR35","unstructured":"McCarthy, Z., Bretl, T.W.: Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations. Int. J. Robot. Res. (IJRR) (June 2013)"},{"key":"39_CR36","doi-asserted-by":"crossref","unstructured":"Moll, M., Kavraki, L.E.: Path planning for minimal energy curves of constant length. In: ICRA, pp. 2826\u20132831 (2004)","DOI":"10.1109\/ROBOT.2004.1307489"},{"key":"39_CR37","doi-asserted-by":"crossref","unstructured":"Rawdon, E.J.: Approximating the thickness of a knot. Ideal Knots. Series Knots Everything, vol. 19, pp. 143\u2013150 (1998)","DOI":"10.1142\/9789812796073_0009"},{"issue":"3","key":"39_CR38","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1177\/02783649922066222","volume":"18","author":"E Rimon","year":"1999","unstructured":"Rimon, E., Blake, A.: Caging planar bodies by one-parameter two-fingered gripping systems. Int. J. Robot. Res. 18(3), 299\u2013318 (1999)","journal-title":"Int. J. Robot. Res."},{"key":"39_CR39","unstructured":"Rodr\u00edguez, S., Lien, J-M., Amato, N.M.: Planning motion in completely deformable environments. In: ICRA, pp. 2466\u20132471. IEEE (2006)"},{"key":"39_CR40","series-title":"AMS\/Chelsea Publication Series","volume-title":"Knots and Links","author":"D Rolfsen","year":"1976","unstructured":"Rolfsen, D.: Knots and Links. AMS\/Chelsea Publication Series. AMS Chelsea Publishing, Providence (1976)"},{"key":"39_CR41","unstructured":"Shoe tying robot. http:\/\/www.youtube.com\/watch?v=XrA7DR0u0uI. Accessed: 2014-02-17"},{"key":"39_CR42","unstructured":"Singhatat, W.: Intracorporeal knot tier, April 2004"},{"issue":"3","key":"39_CR43","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1137\/0216030","volume":"16","author":"R Tamassia","year":"1987","unstructured":"Tamassia, R.: On embedding a graph in the grid with the minimum number of bends. SIAM J. Comput. 16(3), 421\u2013444 (1987)","journal-title":"SIAM J. Comput."}],"container-title":["Springer Tracts in Advanced Robotics","Algorithmic Foundations of Robotics XI"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-16595-0_39","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,27]],"date-time":"2025-05-27T17:34:14Z","timestamp":1748367254000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-16595-0_39"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015]]},"ISBN":["9783319165943","9783319165950"],"references-count":43,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-16595-0_39","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2015]]},"assertion":[{"value":"30 April 2015","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}