接触状態に基づく薄板状物体のマニピュレーション表現

概要

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A representation of thin object manipulation is proposed. First, the contact state between a thin object and an environmental surface in the two-dimensional space is represented qualitatively as 23 contact patterns. We can also represent the contact state of a thin object with multiple environmental surfaces by combining those patterns. Secondly, the contact pattern transition is defined. Thin object manipulation can represented as a network whose nodes mean contact patterns and whose arcs mean pattern transitions. Thirdly, the contactable region of the object for pattern transition is introduced. We can change the contact state if we make manipulators contact with that region. Finally, some examples show that our proposed method will be useful for the planning of the manipulation or the derivation of task strategies.
一般社団法人日本機械学会の論文
2000-07-25