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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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 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