抄録
This paper discusses dynamic manipulation inspired by the handling mechanism of pizza chef. The chef handles a tool called "pizza peel" where a plate is attached at the tip of a bar, and he remotely manipulates a pizza on the plate. We found that he aggressively utilizes only two DOFs (degrees of freedom) from the remote handling location during manipulation: translation along the bar and rotation about the bar. Applying this handling mechanism to the robot system, we first show the experimental results where a deformable object can rotate faster than a rigid one. We reveal that the deformation of the object generated by dynamic effects can drastically contribute to high-speed and stable rotation, just like human steps for turn on the floor. We then introduce a simulation model for a thin deformable object with two sets of elastic and viscous elements. After estimating the visco-elastic parameters, we show that the simulation and experimental results to confirm the validity of the introduced model.
