High-speed Manipulation of Flexible Objects Using High-speed Visual Feedback

2014 Fiscal Year Final Research Report

• Project/Area Number: 24680020
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: YAMAKAWA Yuji 東京大学, 情報理工学(系)研究科, 助教 (90624940)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 柔軟物 / マニピュレーション / 高速フィードバック

Outline of Final Research Achievements

The purpose of this research is to manipulate deformable and soft objects (flexible objects) by robot at high-speed. To achieve this, we proposed manipulation method that is necessary for the realization of the flexible object manipulation and trajectory generation method of the robot based on the manipulation method. In addition, high-speed image processing is implemented in order to recognize state of the flexible object at real-time. Then the result of the image processing is fed back to the trajectory generation of the robot. And, high-speed robot system suitable for the proposed method was constructed. Using the proposed method and the robot system, various tasks such as button spinner, shape control of the ribbon, card shooting and the pizza dough rotation were realized.

Free Research Field

ロボティクス