1A2-I04 多指ハンドによる折り紙タスクの動作生成(ロボットハンドの機構と把持戦略(2))  [in Japanese] 1A2-I04 Motion Generation of Origami Tasks by Multi-fingered Robot Hands(Robot Hand Mechanism and Grasping Strategy(2))  [in Japanese]

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Abstract

In this paper, we try to achieve origami tasks by multi-fingered hands. Paper is thin and deformable and it crumples easily. If there is a crease in the paper, its stiffness increases in the parallel direction, and its stiffness decreases in the normal direction. Because of these characteristics, paper handling is very difficult. In this study, we analyze human origami motion in 'squash fold', and we propose 4 types of motion of our multi-fingered hands. These are suitable for the structure of our robot hands and it reduces the difficulty of the origami task. We have verified our proposed method by experiments,and the results are shown.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1A2-I04_1-_1A2-I04_4, 2012

    The Japan Society of Mechanical Engineers

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