帯状柔軟物体の把持部作成のための変形ヒステリシスの利用

抄録

This manuscript describes how to making a grasping area of belt-like flexible objects for robotic manipulation. To make the grasping area, a robotic hand wrinkles a belt-like object using a wiping slide manipulation. Wiping motion of a deformable object was defined as a task in which there was contact, but no relative movement, between the manipulators and the object, combined with contact, plus relative movement, between the object and the floor, during the displacement of the object. The shape of the grasping area is depended on how to manipulating. In this manuscript, we investigate statistically the difference of the grasping area.