Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling
Elbrechter C, Haschke R, Ritter H (2012)
In: 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Piscataway, NJ: IEEE.
Konferenzbeitrag
| Veröffentlicht | Englisch
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Einrichtung
Abstract / Bemerkung
The ability to manipulate deformable objects, such as textiles or
paper, is a major prerequisite to bringing the capabilities of
articulated robot hands closer to the level of manual intelligence
exhibited by humans. We concentrate on the manipulation of paper,
which affords us a rich interaction domain that has not yet been
solved for anthropomorphic robot hands. Robust tracking and
physically plausible modeling of the paper as well as feedback based
robot control are crucial components for this task. This paper makes
two novel contributions to this area. The first concerns real-time
modeling and visual tracking. Our technique not only models the
bending of a sheet of paper, but also paper crease lines which
allows us to monitor deformations. The second contribution concerns
enabling an anthropomorphic robot to fold paper, and is accomplished
by introducing a set of tactile- and vision-based closed loop
Erscheinungsjahr
2012
Titel des Konferenzbandes
12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
Konferenz
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
Konferenzort
Osaka, Japan
Konferenzdatum
2012-11-29 – 2012-12-01
ISBN
978-1-4673-1369-8
Page URI
https://pub.uni-bielefeld.de/record/2546877
Zitieren
Elbrechter C, Haschke R, Ritter H. Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. In: 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Piscataway, NJ: IEEE; 2012.
Elbrechter, C., Haschke, R., & Ritter, H. (2012). Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) Piscataway, NJ: IEEE. doi:10.1109/HUMANOIDS.2012.6651522
Elbrechter, Christof, Haschke, Robert, and Ritter, Helge. 2012. “Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling”. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Piscataway, NJ: IEEE.
Elbrechter, C., Haschke, R., and Ritter, H. (2012). “Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling” in 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) (Piscataway, NJ: IEEE).
Elbrechter, C., Haschke, R., & Ritter, H., 2012. Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Piscataway, NJ: IEEE.
C. Elbrechter, R. Haschke, and H. Ritter, “Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling”, 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Piscataway, NJ: IEEE, 2012.
Elbrechter, C., Haschke, R., Ritter, H.: Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). IEEE, Piscataway, NJ (2012).
Elbrechter, Christof, Haschke, Robert, and Ritter, Helge. “Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling”. 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Piscataway, NJ: IEEE, 2012.
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Open Access
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2019-09-06T09:18:08Z
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