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  • Titel
    Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling
  • Verfasser
    Elbrechter, Christof ; Haschke, Robert ; Ritter, Helge
  • Erschienen
    2012
  • Sprache
    Englisch
  • Dokumenttyp
    Konferenzband
  • ISBN
    978-1-4673-1369-8
  • URN
    urn:nbn:de:0070-pub-25468772 
  • DOI
    10.1109/HUMANOIDS.2012.6651522 
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Abstract
  • The ability to manipulate deformable objects, such as textiles or
    paper, is a major prerequisite to bringing the capabilities of
    articulated robot hands closer to the level of manual intelligence
    exhibited by humans. We concentrate on the manipulation of paper,
    which affords us a rich interaction domain that has not yet been
    solved for anthropomorphic robot hands. Robust tracking and
    physically plausible modeling of the paper as well as feedback based
    robot control are crucial components for this task. This paper makes
    two novel contributions to this area. The first concerns real-time
    modeling and visual tracking. Our technique not only models the
    bending of a sheet of paper, but also paper crease lines which
    allows us to monitor deformations. The second contribution concerns
    enabling an anthropomorphic robot to fold paper, and is accomplished
    by introducing a set of tactile- and vision-based closed loop
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