Dynamic Manipulation of a Cloth by High-speed Robot System using High-speed Visual Feedback

Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa
2011 IFAC Proceedings Volumes  
In this paper, we propose an entirely new strategy for dynamic manipulation of sheet-like flexible objects. As one example, we consider dynamic folding of a cloth by a highspeed robot system consisting of two high-speed multifingered hands mounted on two sliders and a high-speed vision system. First, the dynamic folding performed by a human subject is analyzed in order to extract the necessary motion for this task. Second, a model of a sheetlike flexible object is proposed by extending a linear
more » ... flexible object model (algebraic equation) using high-speed motion. Third, motion planning of the robot system is performed by using the proposed model, and the simulation result of the dynamic folding is shown. Fourth, high-speed visual feedback control is proposed in order to enhance the manipulation strategy. Finally, experimental results of the dynamic folding of the cloth by the high-speed robot system are shown.
doi:10.3182/20110828-6-it-1002.00596 fatcat:uaobzyuiefc4je4c3sgabnswsm