形状記憶ゲル製ロボットハンドの深度カメラによる計測

抄録

This paper presents measurements of a robot hand made of shape memory gel by a depth camera. The shape memory gel can be easily deformed at high temperature. Because various shapes of the hand can be realized, the measurement of its shape is required. We propose the method to measure the plate of the shape memory gel for the robot hand by a depth camera. The data of the camera includes thousands of points and we calculate eight representative points from the thousands of points. We measure the gel plate of various shapes and make their database. Examples of the measurement and calculation are presented to show the effectiveness of our method.