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基于运动基元的多指手折纸折叠

Origami Folding by Multifingered Hands with Motion Primitives.

作者信息

Namiki Akio, Yokosawa Shuichi

机构信息

Graduate School of Engineering, Chiba University, Chiba, Japan.

出版信息

Cyborg Bionic Syst. 2021 May 30;2021:9851834. doi: 10.34133/2021/9851834. eCollection 2021.

DOI:10.34133/2021/9851834
PMID:36285136
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9494714/
Abstract

, a traditional Japanese art, is an example of superior handwork produced by human hands. Achieving such extreme dexterity is one of the goals of robotic technology. In the work described in this paper, we developed a new general-purpose robot system with sufficient capabilities for performing . We decomposed the complex folding motions into simple primitives and generated the overall motion as a combination of these primitives. Also, to measure the paper deformation in real-time, we built an estimator using a physical simulator and a depth camera. As a result, our experimental system achieved consecutive valley folds and a squash fold.

摘要

作为一种传统的日本艺术，是人类手工制作的卓越技艺的典范。实现如此高的灵巧性是机器人技术的目标之一。在本文所述的工作中，我们开发了一种具有足够能力来执行的新型通用机器人系统。我们将复杂的折叠动作分解为简单的基本动作，并将整体动作作为这些基本动作的组合来生成。此外，为了实时测量纸张变形，我们使用物理模拟器和深度相机构建了一个估计器。结果，我们的实验系统实现了连续的谷折和挤压折。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3648/9494714/fadad6939dad/CBSYSTEMS2021-9851834.015.jpg
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