双腕ロボットを用いた紙包装行動実現のための合わせ包みの構造に基づく動作戦略とハンド設計条件に関する研究

抄録

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.