High-Speed Sheet Extraction Out of Paper Bundle Based on Probabilistic Approach Using Two Robot Fingers

In this paper, high-speed single sheet extraction out of a paper bundle is considered with the goal of achieving paper handling by using a robot hand. Under the condition of uncertain friction coefficients, a stochastic algorithm introducing randomness is formulated to converge to a single-sheet separation state. A hand motion strategy that introduces a partially sepa-rated paper bundle state and the return operation is proposed. Experimental results are shown where a single sheet can be completely separated from a vertically standing stack of business-card-size papers at hiahspeed with two fingers.