Y. Yamakawa, Shouren Huang, A. Namiki, M. Ishikawa
{"title":"高速机器人系统对柔性物体的动态操纵:从静态到动态","authors":"Y. Yamakawa, Shouren Huang, A. Namiki, M. Ishikawa","doi":"10.5772/INTECHOPEN.82521","DOIUrl":null,"url":null,"abstract":"This chapter explains dynamic manipulation of flexible objects, where the target objects to be manipulated include rope, ribbon, cloth, pizza dough, and so on. Previ-ously, flexible object manipulation has been performed in a static or quasi-static state. Therefore, the manipulation time becomes long, and the efficiency of the manipulation is not considered to be sufficient. In order to solve these problems, we propose a novel control strategy and motion planning for achieving flexible object manipulation at high speed. The proposed strategy simplifies the flexible object dynamics. More-over, we implemented a high-speed vision system and high-speed image processing to improve the success rate by manipulating the robot trajectory. By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system.","PeriodicalId":411781,"journal":{"name":"Becoming Human with Humanoid - From Physical Interaction to Social Intelligence","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic\",\"authors\":\"Y. Yamakawa, Shouren Huang, A. Namiki, M. Ishikawa\",\"doi\":\"10.5772/INTECHOPEN.82521\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This chapter explains dynamic manipulation of flexible objects, where the target objects to be manipulated include rope, ribbon, cloth, pizza dough, and so on. Previ-ously, flexible object manipulation has been performed in a static or quasi-static state. Therefore, the manipulation time becomes long, and the efficiency of the manipulation is not considered to be sufficient. In order to solve these problems, we propose a novel control strategy and motion planning for achieving flexible object manipulation at high speed. The proposed strategy simplifies the flexible object dynamics. More-over, we implemented a high-speed vision system and high-speed image processing to improve the success rate by manipulating the robot trajectory. By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system.\",\"PeriodicalId\":411781,\"journal\":{\"name\":\"Becoming Human with Humanoid - From Physical Interaction to Social Intelligence\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-04-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Becoming Human with Humanoid - From Physical Interaction to Social Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5772/INTECHOPEN.82521\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Becoming Human with Humanoid - From Physical Interaction to Social Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5772/INTECHOPEN.82521","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic
This chapter explains dynamic manipulation of flexible objects, where the target objects to be manipulated include rope, ribbon, cloth, pizza dough, and so on. Previ-ously, flexible object manipulation has been performed in a static or quasi-static state. Therefore, the manipulation time becomes long, and the efficiency of the manipulation is not considered to be sufficient. In order to solve these problems, we propose a novel control strategy and motion planning for achieving flexible object manipulation at high speed. The proposed strategy simplifies the flexible object dynamics. More-over, we implemented a high-speed vision system and high-speed image processing to improve the success rate by manipulating the robot trajectory. By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system.