Wiring with Hooking of a String by a Dual-Armed Robot

Abstract

This paper describes string manipulation especially about wiring with hooking. We propose novel end-effectors that are suitable for hooking. One end-effector has a role of grasping a string, and the other has an aim of preventing the string turning away from a target hook. We also propose a method of wiring motion generation by using simple GUI. Experiments using a real dual-armed robot showed the effectiveness of our approach.