確率的モデルを用いたロボットによる柔軟物体の形状操作

今本 雄; 小林 博明

doi:10.11511/jacc.48.0.196.0

48th Proceedings of the Japan Joint Automatic Control Conference

Session ID : H2-24

DOI https://doi.org/10.11511/jacc.48.0.196.0

Conference information

Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

Shape manipulation of deformable objects by robot arm using probability-based model

*Takeshi Imamoto, Hiroaki Kobayashi

Author information

Keywords: Shape manipulation, Deformable objects, Probability-based model

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

In this paper we propose a probability-based modeling technique to identify dynamics of a deformable object and to manipulate the shape using a robot arm.This technique make it possible to make a task planning based on understanding of environmental conditions including a robot arm.In this paper,several simulation results will be present to show the efficiency.

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