Abstract
Origami, a traditional Japanese art, is an example of superior handwork produced by human hands. Achieving such extreme dexterity is one of the goals of robotic technology. In the work described in this paper, we developed a new general-purpose robot system with sufficient capabilities for performing Origami. We decomposed the complex folding motions into simple primitives and generated the overall motion as a combination of these primitives. Also, to measure the paper deformation in real-time, we built an estimator using a physical simulator and a depth camera. As a result, our experimental system achieved consecutive valley folds and a squash fold.
Highlights
Manipulation of flexible objects like sheets of paper is a difficult problem for robots
One of the difficulties in realizing paper folding with robots is that the folding motions are based on multiple fingers’ cooperation, and these motions are very complex
We proposed a new general-purpose robot system with sufficient capabilities for performing Origami
Summary
Manipulation of flexible objects like sheets of paper is a difficult problem for robots. A skilled person can manipulate paper at will, and Origami, a traditional Japanese art, is an example of such superior paper manipulation. Achieving such extreme dexterity is one of the goals of robotic technology. Whereas cloth has no bending elasticity, the paper does, and its properties change as it is folded over and over again For this reason, origami robots require different manipulation strategies than those used for folding cloth. We studied the performance required for a folding robot and developed a new general-purpose robot system with sufficient origami capabilities. This study’s originality lies in the development of the first system for achieving high-precision origami and the experimental validation of its performance
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