Study of skillful paper manipulation by robots based on active sensing technology

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K16072
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent robotics
• Research Institution: The University of Electro-Communications
• Principal Investigator: Kudoh Shunsuke 電気通信大学, 大学院情報理工学研究科, 准教授 (90582338)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 柔軟物マニピュレーション

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.

Free Research Field

ロボット工学