Origami manipulation by robot hand utilizing electroadhesion
| Autor: | Hiroto Kitamori, Chenyu Dong, Masaru Takizawa, Shuya Watanabe, Jun Shintake, Kohei Kimura, Shunsuke Kudoh |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: |
Manipulator
Flexible objects manipulation Origami manipulation Motion planning electroadhesion Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 11, Iss 1, Pp 1-20 (2024) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-024-00277-z |
| Popis: | Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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