1A1-A08 布地の把持・展開・定置を実現する機械システム(ロボットハンドの機構と把持戦略)

DOI Web Site

書誌事項

タイトル別名
  • 1A1-A08 Mechanical System that Achieves Grasping, Unfolding, and Placing of Fabrics

抄録

This paper presents a mechanical system that achieves grasping, unfolding, and placing motion of fabrics in series. Fabric setting process by human consists of grasping, unfolding, and placing motion of fabrics. We realize the setting process using a single-armed robot and a four degrees of freedom gripper hand. The robotic gripper wrinkles the fabric to make a grasping area using residual deformation of the fabric. In unfolding motion, we introduce a pinching slip motion, that fingertips slip on the fabric surface with grasping, similar to human unfolding motion of fabrics.

収録刊行物

詳細情報 詳細情報について

問題の指摘

ページトップへ