Disentangling Dense Multi-Cable Knots
Vainavi Viswanath,Jennifer Grannen,Priya Sundaresan,Brijen Thananjeyan,Ashwin Balakrishna,Ellen Novoseller,Jeffrey Ichnowski,Michael Laskey,Joseph E. Gonzalez,Ken Goldberg,Vainavi Viswanath,Jennifer Grannen,Priya Sundaresan,Brijen Thananjeyan,Ashwin Balakrishna,Ellen Novoseller,Jeffrey Ichnowski,Michael Laskey,Joseph E. Gonzalez,Ken Goldberg
Disentangling two or more cables often requires many steps to remove crossings between and within cables. We formalize the problem of disentangling multiple cables and present an algorithm, Iterative Reduction Of Non-planar Multiple cAble kNots (IRON-MAN), that outputs robot actions to remove crossings from multi-cable knotted structures. IRON-MAN uses a learned perception system inspired by prior...
