Movement strategies and hand design conditions based on the structure of caramel wrapping for the realization of paper wrapping behavior using dual-arm robots.

Abstract

Paper wrapping behavior is performed in various situations in daily life, and automation is required due to increased demand for parcel delivery services and labor shortages. We take up caramel wrapping(Awase-Tsutsumi) to realize wrapping with dual-arm robots. We organize the structure of paper wrapping behavior based on the paper’s condition for each caramel wrapping action procedure to realize caramel wrapping. Based on the structure, we define the necessary motions and propose movement strategies and hand design conditions for each motion. In addition, the effectiveness of these methods is demonstrated through experiments.