双腕ロボットを用いた柔軟対象物のちぎりマニピュレーション

—実験的考察に基づくちぎり挙動のモデル化と制御—

抄録

This paper discusses the manipulation problem of tearing a flexible object and dividing it into target proportions by a single-axis tensile motion using a dual-arm robot with parallel grippers as end effectors. First, through preliminary experiments, we show that there are unstable phenomena such as initial value sensitivities and discontinuities in the tearing of the flexible object. We show that there is a characteristic relationship between the grasping ratio and the tearing ratio, which is discontinuous in some parts. Next, this relationship is expressed by a mathematical model called the tearing model. Based on the model, we propose a method to control the tearing ratio by 1-step or 2-step tearing motion. In the 2-step control, the volume distribution is monitored via the depth information , and the regrasping motion is conducted at the appropriate timing to repeat the tearing motion. Finally, we demonstrate the feasibility of the proposed method by experiments.