線状柔軟物マニピュレーションのための重心・接触点推定

抄録

As robots are becoming popular labor force, we can expect more robots to work in places more familiar to our daily lives such as restaurants. This paper aims at realizing a manipulation of line-shaped flexible objects to achieve its appetizing looks. As a first step, we try to develop a system for handling and manipulating a line-shaped flexible object: a method for controlling the bias of the object: a method for estimating the center of gravity and contact point to further estimate the distribution of line-shaped flexible objects in the robotic hand. The efficacy of the developed system was validated by several experiences.