Casting manipulation has been studied to expand the robot's movable range. In this manipulation, the robot throws and reaches the end effector to a distant target. Usually, a special casting manipulator, which consists of rigid arm links and specific flexible linear objects, is constructed for an effective casting manipulation. However, the special manipulator cannot perform normal manipulations, such as picking and placing, grasping, and operating objects. We propose that the normal robot arm, which can perform normal tasks, picks up an unknown string in the surrounding environment and realizes casting manipulation with it. As the properties of the string are not provided in advance, it is crucial how to reflect it in casting manipulation. This is realized by the motion generation of the robot arm with the simulation of string movement, actual string manipulation by the robot arm, and string parameter estimation from the actual string movement. After repeating these three steps, the simulated string movement approximates the actual to realize casting manipulation with the unknown string. We confirmed the effectiveness of the proposed method through experiments. The try of this study will lead to enhancement of the performance of home service robot, exploration robot, rescue robot and entertainment robot.

翻译：投掷操作已被研究用于扩展机器人的运动范围。在此操作中，机器人通过抛掷使末端执行器到达远处目标。通常情况下，为实现有效的投掷操作，会构建由刚性臂连杆和特定柔性线性物体组成的专用投掷机械臂。然而，专用机械臂无法执行拾取与放置、抓取以及操作物体等常规操作。我们提出：能够执行常规任务的普通机器人臂可从周围环境中拾取未知绳索，并利用其实现投掷操作。由于绳索特性未预先提供，如何将其反映在投掷操作中至关重要。这通过以下步骤实现：结合绳索运动的仿真生成机器人臂运动、机器人臂对绳索的实际操作、以及根据实际绳索运动估计绳索参数。重复这三个步骤后，仿真绳索运动将逼近实际运动，从而利用未知绳索实现投掷操作。我们通过实验验证了所提方法的有效性。本研究的尝试将有助于提升家庭服务机器人、探索机器人、救援机器人和娱乐机器人的性能。