Origami operations by multifingered robot hand with realtime 3D shape estimation of paper
Origami operations by multifingered robot hand with realtime 3D shape estimation of paper
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通过多指机器人手进行折纸操作，并实时估计纸张的 3D 形状
DOI：
10.1109/sii.2016.7844086
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
A. Namiki
中科院分区：
文献类型：
--
作者：
R. Minowa;A. Namiki
多指机器人手具有操纵和抓取各种物体的能力，就像人手一样。在以前的研究中，我们已经看过在折纸操作（折纸）作为一个例子，灵巧的操作由双机器人手进行。由于纸张的变形，机器人手难以操纵纸张，因此在折纸操作期间需要识别其形状。在本文中，我们提出了一种方法，估计一个3D模型的纸的深度信息的基础上获得的3D传感器。本文的三维模型是用一个由弹簧和阻尼器节点组成的物理模拟器来表示的。因此，在折纸操作期间实现了高度精确的3D形状估计。
Multifingered robot hands have the ability to manipulate and grasp various objects, like a human hand. In previous studies, we have looked at paper folding operations (Origami) as an example of dexterous manipulation to be performed by dual robot hands. It is difficult for robot hands to manipulate a sheet of paper because of its deformation, and it is thus necessary to recognize its shape during Origami operations. In this paper, we propose a method of estimating a 3D model of paper based on depth information obtained from a 3D sensor. The 3D model of the paper is expressed by using a physics simulator composed of nodes with springs and dampers. As a result, highly accurate 3D shape estimation was achieved during Origami operations.