Take a Long Deformable Belt out of a Bobbin by Humanoid Robot

Yili QIN; Adrien ESCANDE; Arnaud TANGUY; Eiichi YOSHIDA

doi:10.1299/jsmermd.2020.1P1-B04

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Online ISSN : 2424-3124

2020

Session ID : 1P1-B04

DOI https://doi.org/10.1299/jsmermd.2020.1P1-B04

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : May 27, 2020 - May 30, 2020

Take a Long Deformable Belt out of a Bobbin by Humanoid Robot

*Yili QIN, Adrien ESCANDE, Arnaud TANGUY, Eiichi YOSHIDA

Author information

Keywords: Humanoid Robot, Deformable Objects Manipulation, Visual Detection, Force Control

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Abstract

In this paper, we present our research on using the HRP-2Kai humanoid robot to take a long, thin and flexible belt out of a bobbin. By proposing a novel non-prehensile manipulation strategy ”scraping” and using a real-time 3D shape estimateor for 2D flexilbe thin object. We show experimentally humanoid robots can complete this complex task in industrial production.

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