Teaching Method for Wrapping Operation by Robot
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- Hayashi Naohiro
- The University of Electro-Communications
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- Tomizawa Tetsuo
- The University of Electro-Communications
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- Suehiro Takashi
- The University of Electro-Communications
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- Kudoh Shunsuke
- The University of Electro-Communications
Bibliographic Information
- Other Title
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- ロボットによる被覆操作のための教示方法
- ロボット ニ ヨル ヒフク ソウサ ノ タメ ノ キョウジ ホウホウ
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Abstract
A purpose of this study is to achieve wrapping operation by robots. As a teaching method of wrapping operation, this study uses an intuitive instruction based on a movement of a hand, and generates robot commands from the instruction. This study represents wrapping operation based on a three-layered model as intermediate representation, which is originally proposed in our previous study. In this paper, as a key elements of this study, we describe the teaching method which is a part of inputting to the model. This method can understand an intention of the rough instruction and generate appropriate intermediate representation which represents the intention. In the intermediate representation, a part of hand path generation method is extended to loosen limitations about shapes of objects and fabric that can be handled. Finally, we integrate them into a total wrapping robot system, and confirm that the proposed method is effective to achieve wrapping operation by a robot.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 34 (5), 340-351, 2016
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204728488960
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- NII Article ID
- 130005164986
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 027492985
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed