Origami manipulation by robot hand utilizing electroadhesion
Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the mo...
Ausführliche Beschreibung
Autor*in: |
Kitamori, Hiroto [verfasserIn] Dong, Chenyu [verfasserIn] Takizawa, Masaru [verfasserIn] Watanabe, Shuya [verfasserIn] Shintake, Jun [verfasserIn] Kimura, Kohei [verfasserIn] Kudoh, Shunsuke [verfasserIn] |
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E-Artikel |
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Sprache: |
Englisch |
Erschienen: |
2024 |
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Schlagwörter: |
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Anmerkung: |
© The Author(s) 2024 |
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Übergeordnetes Werk: |
Enthalten in: ROBOMECH Journal - Springer International Publishing, 2014, 11(2024), 1 vom: 08. Juni |
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Übergeordnetes Werk: |
volume:11 ; year:2024 ; number:1 ; day:08 ; month:06 |
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DOI / URN: |
10.1186/s40648-024-00277-z |
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Katalog-ID: |
SPR056171196 |
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10.1186/s40648-024-00277-z doi (DE-627)SPR056171196 (SPR)s40648-024-00277-z-e DE-627 ger DE-627 rakwb eng 004 620 VZ Kitamori, Hiroto verfasserin aut Origami manipulation by robot hand utilizing electroadhesion 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2024 Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 Dong, Chenyu verfasserin aut Takizawa, Masaru verfasserin aut Watanabe, Shuya verfasserin aut Shintake, Jun verfasserin aut Kimura, Kohei verfasserin aut Kudoh, Shunsuke verfasserin aut Enthalten in ROBOMECH Journal Springer International Publishing, 2014 11(2024), 1 vom: 08. Juni (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:11 year:2024 number:1 day:08 month:06 https://dx.doi.org/10.1186/s40648-024-00277-z X:SPRINGER Resolving-System kostenfrei Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2024 1 08 06 |
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10.1186/s40648-024-00277-z doi (DE-627)SPR056171196 (SPR)s40648-024-00277-z-e DE-627 ger DE-627 rakwb eng 004 620 VZ Kitamori, Hiroto verfasserin aut Origami manipulation by robot hand utilizing electroadhesion 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2024 Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 Dong, Chenyu verfasserin aut Takizawa, Masaru verfasserin aut Watanabe, Shuya verfasserin aut Shintake, Jun verfasserin aut Kimura, Kohei verfasserin aut Kudoh, Shunsuke verfasserin aut Enthalten in ROBOMECH Journal Springer International Publishing, 2014 11(2024), 1 vom: 08. Juni (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:11 year:2024 number:1 day:08 month:06 https://dx.doi.org/10.1186/s40648-024-00277-z X:SPRINGER Resolving-System kostenfrei Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2024 1 08 06 |
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10.1186/s40648-024-00277-z doi (DE-627)SPR056171196 (SPR)s40648-024-00277-z-e DE-627 ger DE-627 rakwb eng 004 620 VZ Kitamori, Hiroto verfasserin aut Origami manipulation by robot hand utilizing electroadhesion 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2024 Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 Dong, Chenyu verfasserin aut Takizawa, Masaru verfasserin aut Watanabe, Shuya verfasserin aut Shintake, Jun verfasserin aut Kimura, Kohei verfasserin aut Kudoh, Shunsuke verfasserin aut Enthalten in ROBOMECH Journal Springer International Publishing, 2014 11(2024), 1 vom: 08. Juni (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:11 year:2024 number:1 day:08 month:06 https://dx.doi.org/10.1186/s40648-024-00277-z X:SPRINGER Resolving-System kostenfrei Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2024 1 08 06 |
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10.1186/s40648-024-00277-z doi (DE-627)SPR056171196 (SPR)s40648-024-00277-z-e DE-627 ger DE-627 rakwb eng 004 620 VZ Kitamori, Hiroto verfasserin aut Origami manipulation by robot hand utilizing electroadhesion 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2024 Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 Dong, Chenyu verfasserin aut Takizawa, Masaru verfasserin aut Watanabe, Shuya verfasserin aut Shintake, Jun verfasserin aut Kimura, Kohei verfasserin aut Kudoh, Shunsuke verfasserin aut Enthalten in ROBOMECH Journal Springer International Publishing, 2014 11(2024), 1 vom: 08. Juni (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:11 year:2024 number:1 day:08 month:06 https://dx.doi.org/10.1186/s40648-024-00277-z X:SPRINGER Resolving-System kostenfrei Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2024 1 08 06 |
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10.1186/s40648-024-00277-z doi (DE-627)SPR056171196 (SPR)s40648-024-00277-z-e DE-627 ger DE-627 rakwb eng 004 620 VZ Kitamori, Hiroto verfasserin aut Origami manipulation by robot hand utilizing electroadhesion 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2024 Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 Dong, Chenyu verfasserin aut Takizawa, Masaru verfasserin aut Watanabe, Shuya verfasserin aut Shintake, Jun verfasserin aut Kimura, Kohei verfasserin aut Kudoh, Shunsuke verfasserin aut Enthalten in ROBOMECH Journal Springer International Publishing, 2014 11(2024), 1 vom: 08. Juni (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:11 year:2024 number:1 day:08 month:06 https://dx.doi.org/10.1186/s40648-024-00277-z X:SPRINGER Resolving-System kostenfrei Volltext SYSFLAG_0 GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2024 1 08 06 |
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Enthalten in ROBOMECH Journal 11(2024), 1 vom: 08. Juni volume:11 year:2024 number:1 day:08 month:06 |
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Manipulator Flexible objects manipulation Origami manipulation Motion planning electroadhesion |
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Kitamori, Hiroto @@aut@@ Dong, Chenyu @@aut@@ Takizawa, Masaru @@aut@@ Watanabe, Shuya @@aut@@ Shintake, Jun @@aut@@ Kimura, Kohei @@aut@@ Kudoh, Shunsuke @@aut@@ |
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Kitamori, Hiroto |
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Kitamori, Hiroto ddc 004 misc Manipulator misc Flexible objects manipulation misc Origami manipulation misc Motion planning electroadhesion Origami manipulation by robot hand utilizing electroadhesion |
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004 620 VZ Origami manipulation by robot hand utilizing electroadhesion Manipulator (dpeaa)DE-He213 Flexible objects manipulation (dpeaa)DE-He213 Origami manipulation (dpeaa)DE-He213 Motion planning electroadhesion (dpeaa)DE-He213 |
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ddc 004 misc Manipulator misc Flexible objects manipulation misc Origami manipulation misc Motion planning electroadhesion |
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ddc 004 misc Manipulator misc Flexible objects manipulation misc Origami manipulation misc Motion planning electroadhesion |
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ddc 004 misc Manipulator misc Flexible objects manipulation misc Origami manipulation misc Motion planning electroadhesion |
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Origami manipulation by robot hand utilizing electroadhesion |
abstract |
Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. © The Author(s) 2024 |
abstractGer |
Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. © The Author(s) 2024 |
abstract_unstemmed |
Abstract This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation. © The Author(s) 2024 |
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title_short |
Origami manipulation by robot hand utilizing electroadhesion |
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author2 |
Dong, Chenyu Takizawa, Masaru Watanabe, Shuya Shintake, Jun Kimura, Kohei Kudoh, Shunsuke |
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