Strategy Generation for Thin Object Manipulation

Abstract

Strategy for manipulation of deformable thin objects is presented. First, the contact state between environment surfaces and the object is defined. Secondly, manipulations categorized into five types are defined and state transition paths are shown. Transition paths based on contact state between environment surfaces and the object are generated. Thirdly, a method in order to evaluate the transition paths quantitatively is proposed. Finally, a simple example is shown to demonstrate the validity of this method.