{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:15:12Z","timestamp":1760242512603,"version":"build-2065373602"},"reference-count":19,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2017,9,15]],"date-time":"2017-09-15T00:00:00Z","timestamp":1505433600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This paper demonstrates the relationship between the production process of a knot and manipulation skills. First, we define the description (rope intersections, grasp type and fixation positions) of a knot. Second, we clarify the characteristics of the manipulation skills from the viewpoint of the knot description. Next, in order to obtain the production process of the knot, we propose an analysis method based on the structure of the knot and the characteristics of the manipulation skills. Using the proposed analysis method, we analyzed eight kinds of knots, formed with a single rope, two ropes or a single rope and an object. Finally, in order to validate the production process obtained by the proposed analysis method, we show experimental results of an overhand knot and a half hitch produced by using a robot hand system.<\/jats:p>","DOI":"10.3390\/sym9090194","type":"journal-article","created":{"date-parts":[[2017,9,15]],"date-time":"2017-09-15T10:22:10Z","timestamp":1505470930000},"page":"194","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Planning of Knotting Based on Manipulation Skills with Consideration of Robot Mechanism\/Motion and Its Realization by a Robot Hand System"],"prefix":"10.3390","volume":"9","author":[{"given":"Yuji","family":"Yamakawa","sequence":"first","affiliation":[{"name":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akio","family":"Namiki","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chiba University, Chiba 263-8522, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masatoshi","family":"Ishikawa","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Makoto","family":"Shimojo","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,9,15]]},"reference":[{"unstructured":"Yamakawa, Y., Namiki, A., Ishikawa, M., and Shimojo, M. (November, January 29). One-handed Knotting of a Flexible Rope with a High-speed Multifingered Hand having Tactile Sensors. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA.","key":"ref_1"},{"unstructured":"Inoue, H., and Inaba, M. (1984). Hand-Eye Coordination in Rope Handling, MIT Press. Robotics Research: The First International Symposium.","key":"ref_2"},{"unstructured":"Matsuno, T., Fukuda, T., and Arai, F. (2001, January 8\u201312). Flexible Rope Manipulation by Dual Manipulator System Using Vision Sensor. Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy.","key":"ref_3"},{"unstructured":"Saha, M., and Isto, P. (2006, January 15\u201319). Motion Planning for Robotic Manipulation of Deformable Linear Object. Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA.","key":"ref_4"},{"unstructured":"Morita, T., Takamatsu, J., Ogawara, K., Kimura, H., and Ikeuchi, K. (2003, January 14\u201319). Knot Planning from Observation. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan.","key":"ref_5"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1177\/0278364906064819","article-title":"Knotting\/Unknotting Manipulation of Deformable Linear Objects","volume":"25","author":"Wakamatsu","year":"2006","journal-title":"Int. J. Robot. Res."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1109\/LRA.2016.2518741","article-title":"Handling and Describing String-Tying Operations Based on Metrics Using Segments between Crossing Sections","volume":"1","author":"Onda","year":"2016","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"570","DOI":"10.1080\/01691864.2017.1289119","article-title":"Knotting task execution based a hand-rope relation","volume":"31","author":"Vinh","year":"2017","journal-title":"Adv. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1318","DOI":"10.1109\/TASE.2015.2471844","article-title":"Towards Arranging and Tightening Knots and Unknots with Fixtures","volume":"12","author":"Wang","year":"2015","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"unstructured":"Wang, W., and Balkcom, D. (2016, January 16\u201321). Towards tying knots precisely. Proceedings of the IEEE International Conference on Robotics and Automation, Stockholm, Sweden.","key":"ref_10"},{"doi-asserted-by":"crossref","unstructured":"Yamakawa, Y., Namiki, A., Ishikawa, M., and Shimojo, M. (2008, January 22\u201326). Knotting Manipulation of a Flexible Rope with a High-speed Multifingered Hand System based on Skill Synthesis. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France.","key":"ref_11","DOI":"10.1109\/IROS.2008.4650802"},{"unstructured":"Yamakawa, Y., Namiki, A., Ishikawa, M., and Shimojo, M. (2009, January 22\u201324). One-handed Knotting of a Linear Flexible Object based on Reconfigurable Skill Synthesis Strategy. Proceedings of the ASME\/IFToMM International Conference on Reconfigurable Mechanisms and Robots, London, UK.","key":"ref_12"},{"doi-asserted-by":"crossref","unstructured":"Yamakawa, Y., Namiki, A., Ishikawa, M., and Shimojo, M. (2010). Knotting a Flexible Rope using a High-speed Multifingered Hand System based on Synthesis of Knotting Manipulation Skills. Robotics 2010 Current and Future Challenges, InTech.","key":"ref_13","DOI":"10.5772\/7331"},{"unstructured":"Adams, C.C. (2004). The Knot Book\u2014An Elementary Introduction to the Mathematical Theory of Knots, American Mathematical Society.","key":"ref_14"},{"unstructured":"Namiki, A., Imai, Y., Ishikawa, M., and Kaneko, M. (2003, January 27\u201331). Development of a High-speed Multifingered Hand System and Its Application to Catching. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA.","key":"ref_15"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"730","DOI":"10.9746\/sicetr1965.18.730","article-title":"A Method for Measuring the Center Position of a Two Dimensional Distributed Load Using Pressure-Conductive Rubber","volume":"18","author":"Ishikawa","year":"1982","journal-title":"Trans. Soc. Instrum. Control Eng."},{"doi-asserted-by":"crossref","unstructured":"Nakabo, Y., Ishikawa, M., Toyoda, H., and Mizuno, S. (2000, January 24\u201328). 1 ms column parallel vision system and its application of high speed target tracking. Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, USA.","key":"ref_17","DOI":"10.1109\/ROBOT.2000.844126"},{"unstructured":"(2017, August 20). Ishikawa Watanabe Laboratory, One Handed Knotting of flexible rope using a High-speed Multifingered Hand. Available online: http:\/\/www.k2.t.u-tokyo.ac.jp\/fusion\/Knotting\/index-e.html.","key":"ref_18"},{"unstructured":"(2017, August 20). Ishikawa Watanabe Laboratory, Knotting manipulation based on skill synthesis. Available online: http:\/\/www.k2.t.u-tokyo.ac.jp\/fusion\/SkillSynthesis\/index-e.html.","key":"ref_19"}],"container-title":["Symmetry"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2073-8994\/9\/9\/194\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:45:01Z","timestamp":1760208301000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2073-8994\/9\/9\/194"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,9,15]]},"references-count":19,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2017,9]]}},"alternative-id":["sym9090194"],"URL":"https:\/\/doi.org\/10.3390\/sym9090194","relation":{},"ISSN":["2073-8994"],"issn-type":[{"type":"electronic","value":"2073-8994"}],"subject":[],"published":{"date-parts":[[2017,9,15]]}}}