抄録
For social advancement of robots, robots using deformable objects as tool similar to the rigid tools are important. In a prior research, robots used deformable tool by iterative learning. And another research, robots manipulate a string using a complex deformable object model. However, it is important to succeed in one time trial and decreasing calculation and measurement cost by simplifying models for adaptive action. Here, we propose a new method that robots measure a natural period of deformable object, estimate stiffness of simplified model and generate motion to perform retrieval tasks adaptively. As a result, we showed validity of the proposed method in various stiffness of model and efficacy with non-uniform model in simulation. Moreover, we constructed a real robot performing retrieval task with real deformable objects. By our research, we expect that robots advance into human society more and more.
