Dynamic Folding of a Cloth using a High-speed Multifingered Hand System

摘要

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.