高速多指ハンドシステムを用いた布の動的折りたたみ操作  [in Japanese] Dynamic Folding of a Cloth using a High-speed Multifingered Hand System  [in Japanese]

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Author(s)

Abstract

The purpose of this paper is to achieve a dynamic folding of a cloth using a robot system with two high-speed multifingered hands. First, we will analyze the dynamic folding by a human subject in order to extract elements for this task. Second, a simple model of sheet-like flexible object using high-speed motion will be suggested. Third, motion planning of the robot system will be performed based on the proposed model and a simulation result will be illustrated. Fourth, the folding analysis using a triple pendulum model will be carried out. Fifth, a high-speed visual feedback control method will be proposed to grasp the cloth. Finally, an experiment result with the motion planning and the high-speed visual feedback will be demonstrated.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 30(2), 225-232, 2012-03-15

    The Robotics Society of Japan

References:  11

Cited by:  2

Codes

  • NII Article ID (NAID)
    10030209273
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    023599305
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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