Real-time Paper Shape Estimation by Origami Simulator considering Plastic Deformation

Abstract

In recent years, research on manipulation of deformable objects has been increased. Our research group has been studying paper manipulation with a multi-fingered hand robot, and has so far succeeded in ”triangular two-folds” with common single-color origami paper. However, more complex folding operations have not been realized. One of the reasons is that the physical simulator used for estimation cannot represent ”folds” of papers. In this study, we proposed a paper shape estimation system using an origami simulator that can represent origami folds, and verified the effectiveness of the proposed system. As a result, the proposed system showed higher tracking performance than the previous system.