Trajectory Generation Using Spline Function for Paper Folding Motion by Multi-fingered Robot Hand System
Daisuke Sato, Ryo Minowa, Akio Namiki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
One of recent important topics of dexterous manipulation is to manipulate flexible objects such as rope, cloth, or paper. We have also developed a dexterous robot hand system that can achieve Origami tasks. In this study, its trajectory generation method is improved so as to speed up the operation. The trajectory is generated with spline functions and its coefficient parameters are determined using a constrained nonlinear optimization. The optimization is executed with considering the torques of joints and the collision between the robot hand and obstacles. As a result, the time of operation has been shortened to 43% of the time in the previous method.