手先カメラを有するロボットハンドを用いた衣類ハンドリング

抄録

In recent years, robots have been introduced to automate work in various industries. On the other hand, the automation of cloth handling is not so advanced. Cloth is an irregularly shaped material that deforms easily when force is applied, making it difficult for a robot to move in response to such deformation. In this study, we aim to realize flexible clothing handling using a robotic hand with a camera at its finger. We propose control methods that utilize video information, conduct verification experiments, and discuss the usefulness of the method. We also do the application experiment, and show the possibility that the task set as the goal can be automated.