Dynamic paper bending manipulation using a high-speed multi-fingered robot hand system

This study aims to create a motion to manipulate paper without creating folds using high-speed vision, to replicate the human handling of flexible objects with a multi-fingered robot hand. By leveraging the physical properties of the paper, we propose a handling strategy that allows the paper to be tensioned in any direction. By elucidating the state transitions of the shape of the paper during dynamic manipulation, we achieved dynamic bending of the paper without creating creases. Two operation patterns were proposed: one using two hands to manipulate the paper from both sides and the other utilizing the inertia of rapidly swinging down the arm with one hand. Additionally, by clarifying the state transitions of the shape that appear during dynamic paper manipulation, we propose a method for bending paper dynamically without creating folds. This task was completed using image processing with high-speed vision to respond to paper deformation during the operation. The experimental results show that, by using high-speed visual feedback to monitor the shape of a paper, we can determine the appropriate timing for action switches, allowing the same operation to be executed on papers of different sizes.