Cooperative string looping by dual shooting manipulation

In this paper, we propose a dual shooting manipulation system for a cooperative string looping. The string looping is cooperative manipulation by two flexible arms. One shooting manipulation system named “loop arm” passes behind a target from one side, and it is captured by the other named “hook arm” at the opposite side of the target. By the string looping, the dual shooting manipulation system achieves different tasks such as transportation along the loop of the dual arm. Experimental results show that the string looping task for a horizontal target opening is successfully accomplished by a prototype dual shooting manipulation system.