摘み滑り動作を利用した布地の展開動作

• 柴田 瑞穂

  立命館大学

• 太田 剛士

  立命館大学

• 平井 慎一

  立命館大学

書誌事項

タイトル別名

• Fabric Unfolding Using Pinching Slip Motion
• ツミ スベリ ドウサ オ リヨウ シタ ヌノジ ノ テンカイ ドウサ

抄録

We discuss an unfolding of fabrics by robotic hands. During unfolding, humans usually allow their fingertips to slip on the fabric surfaces, referred to as a pinching slip motion. We define this motion using differential geometry coordinate. In this motion, the weight of the fabric generates relative movement between the moving fingertips and the fabric, and then, the edges of the fingertips are in contact with the hem of the fabric. We confirm experimentally that the success rate depends on fingertip shapes and grasping force of a robotic hand during the motion. The range between fingertips can be selected widely when fingertips with circular edges are applied. Finally, we demonstrate a fabric unfolding experimentally.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 27 (9), 1029-1036, 2009

  一般社団法人 日本ロボット学会

キーワード

• Handling
• Deformable Object
• Differential Geometry Coordinate
• Fabric Unfolding
• Pinching Slip Motion

詳細情報

• CRID: 1390001204726399104
• NII論文ID: 10026089667
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.27.1029
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 10498502
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10498502
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可