| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Outline of Final Research Achievements |
The purpose of this study was skillful paper manipulation by a robot hand. Main subjects in this study were developing a description method of paper folding tasks, a sensing method for a state of paper, and a robot hand suitable for skillful paper manipulation. First, we developed a description method for paper folding tasks by extending our previous method, in which a folding action was described using Origami axioms, which is a mathematical theory to determine a fold. Next, we developed sensing methods. While sensing paper is generally a challenging problem, we proposed active sensing methods where a robot actively examined a state of paper by, for example, adding force to the paper. And then, we examined necessary functions for the active sensing methods, and developed a robot hand suitable for skillful paper manipulation. Finally, we integrated the above methods and achieved skillful paper manipulation, such as a squash fold, by a robot.
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