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This chapter investigates a knot-tying system as a case study for handling flexible objects, applying the LfO frameworks introduced in the previous section. The systems discussed in earlier chapters primarily addressed rigid bodies, such as polyhedrons, by associating requisite actions with contact-state transitions. Building on these concepts, this chapter extends the focus to flexible objects, specifically examining a knot-tying system. The system leverages representations of knot types and their transitions to enable the generation of knot-tying actions.

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Knot Tying World

  • 章节

  • 发表日期：

    2026年

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  • Katsushi Ikeuchi,
  • Naoki Wake,
  • Jun Takamatsu,
  • Kazuhiro Sasabuchi

摘要

This chapter investigates a knot-tying system as a case study for handling flexible objects, applying the LfO frameworks introduced in the previous section. The systems discussed in earlier chapters primarily addressed rigid bodies, such as polyhedrons, by associating requisite actions with contact-state transitions. Building on these concepts, this chapter extends the focus to flexible objects, specifically examining a knot-tying system. The system leverages representations of knot types and their transitions to enable the generation of knot-tying actions.