{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T13:32:54Z","timestamp":1767706374949,"version":"3.38.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1991,2,1]],"date-time":"1991-02-01T00:00:00Z","timestamp":665366400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1991,2]]},"abstract":"<jats:p> This article describes a project undertaken to explore pro gramming physical operations on complex flexible objects. Uncertainty about the exact state of the object makes it im possible to precisely specify the actions to be performed at the time the program is written. Furthermore, the detailed conse quences of manipulations on flexible objects cannot be deter mined before the action is performed. Lacking precise specifi cations, the programmer must abstract the essential properties of objects and actions. <\/jats:p><jats:p> In an effort to study manipulation offlexible objects, a system to tie knots in rope with a robot arm was developed. The system includes an extensible graph representation for knots, a vision system that binds the contour of a physical rope to an abstract description, and a knot-tying language based on parametric motion commands. Knots of modest complexity, such as a bowline or figure 8, can be tied in a va riety of ropes with minimal constraints on the initial configu ration of the rope. The work highlights the importance of software engineering principles and a good programming en vironment for robot program development. <\/jats:p>","DOI":"10.1177\/027836499101000105","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"41-50","source":"Crossref","is-referenced-by-count":65,"title":["A Case Study of Flexible Object Manipulation"],"prefix":"10.1177","volume":"10","author":[{"given":"John E.","family":"Hopcroft","sequence":"first","affiliation":[{"name":"Department of Computer Science Cornell University Ithaca, New York 14853"}]},{"given":"Joseph K.","family":"Kearney","sequence":"additional","affiliation":[{"name":"Department of Computer Science University of Iowa Iowa City, Iowa 52242"}]},{"given":"Dean B.","family":"Krafft","sequence":"additional","affiliation":[{"name":"Department of Computer Science Comell University Ithaca, New York 1485 3"}]}],"member":"179","published-online":{"date-parts":[[1991,2,1]]},"reference":[{"key":"atypb1","unstructured":"Ambler, A., Cameron, S.A., and Corner, D.F. 1987. Augmenting the RAPT robot language. In Rembold, U., and H\u00f6rmann, K., eds. Languages for Sensor-based Control in Robotics. New York: Springer-Verlag, pp. 305-316."},{"volume-title":"The Ashley Book of Knots","year":"1944","author":"Ashley, C.W.","key":"atypb2"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100403"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-6891-5"},{"volume-title":"The Art of Knotting and Splicing","year":"1947","author":"Day, C.L.","key":"atypb5"},{"key":"atypb6","first-page":"758","author":"Finkel, R.","year":"1975","journal-title":"Fourth International Joint Conference on Artificial Intelligence"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1983.4767338"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1145\/3318.3479"},{"key":"atypb9","unstructured":"Inoue, H., and Inaba, H. 1984. Hand-eye coordination in rope handling. In Paul, R., ed. Robotics Research: The First International Symposium , Cambridge, Mass. MIT Press, pp. 163-174."},{"key":"atypb10","unstructured":"Latombe, J.C., Laugier, C., Lefebvre, J.M., Mazer, E., and Miribel, J.F. 1985. The LM robot programming system. In Inoue, H., ed. Robotics Research: The Second International Symposium . Cambridge, Mass. MIT Press, pp. 377-391."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1147\/rd.214.0321"},{"volume-title":"Abstraction and Specification in Program Development","year":"1986","author":"Liskov, B.","key":"atypb12"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12681"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300101"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Paul, R. 1976. WAVE: A model-based language for manipulator control . Society of Manufacturing Engineers, Technical paper MR 76-615, pp. 10-17.","DOI":"10.1108\/eb004473"},{"key":"atypb16","unstructured":"Poplestone, R., and Ambler, A. A language for specifying robot manipulations. In Pugh, A., ed. Robotic Technology. London : Peter Peregrinus, pp. 125-141."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(80)90034-X"},{"volume-title":"COMPSAC 79 Conference Proceedings","author":"Shimano, B.","key":"atypb18"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100302"},{"issue":"1","key":"atypb20","first-page":"86","volume":"4","author":"Volz, R.","year":"1988","journal-title":"IEEE J. Robot. 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