Host: The Japan Society for Precision Engineering
Name : 2023 JSPE Spring Conference
Location : [in Japanese]
Date : March 14, 2023 - March 16, 2023
Pages 323-324
Manipulation of deformable objects has been studied for many years in dexterous manipulation. Casting manipulation is an example of deformable linear object manipulation, in which a special device is attached to a string and the robot manipulate object from a long distance. In this study, we propose a method to realize casting manipulation on a non-uniform string whose characteristics are unknown, by repeating motion generation, actual manipulation and parameter estimation to estimate the characteristics of the string, including its mass distribution.