〈原著論文〉布地の押しつけ移動操作における移動距離の推定

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  • ヌノジ ノ オシツケ イドウ ソウサ ニ オケル イドウ キョリ ノ スイテイ
  • Estimation of Displacement Distance for Wiping motion of Fabric Products

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In this manuscript, an estimation method of displacement distance for wiping motion of fabric products is implemented. This wiping motion is defined as a task in which there is contact, but no relative movement, between the manipulator and the deformable object, while there is both contact and relative movement between the object and a floor during the displacement of the object in this wiping motion. We propose a visual tracking algorithm utilizing combination of a particle filter and a rebelling processing for measuring the displace distance. We invest the validity of the algorithm utilizing a planar robotic arm.

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