Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/sii55687.2023.10039272

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

Dynamically manipulating flexible objects using robots is difficult. Some studies have been conducted that only considered one type of object with known properties or that needed an identification test for string properties in advance. We propose a method to realize the dynamic manipulation of a string with unknown characteristics. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. The proposed method estimates the string properties to realize the motion objective via the real manipulation of the string. An identification test in advance was not necessary. In this study, we focus on swing manipulation. This can increase the motion energy of a string without a high-power actuator. After making a large swing, the robot can throw strings to a more distant target, such as a hammer throw. This motion is useful for explanation robots, rescue robots, and so on. We modified the proposed method to generate a swing manipulation. Then, we investigate whether swing manipulation can be performed by the proposed method and demonstrate its effectiveness via experiments with various strings with unknown characteristics.

DOI： 10.20965/ijat.2021.p0774

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)  

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

<title>Abstract</title>We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the joint angular velocities expressed by the Bezier curves. Their control points are randomly positioned to generate various robot motion for dynamic string manipulation. The generated motion is performed by a wire-driven robot arm and, real string movement is captured by the camera. These time-series images are used for the parameter estimation of string. The best parameter set is determined via comparison between real and simulated string movement after changing parameter randomly and logarithmically. This parameter set is not unique, but it simulates the actual string movement well. Since the estimated string parameter is used for the robot motion generation after repeating the above 3 steps, the motion generation reflects string property and motion objective can success without special tests in advance. This is an advantage of our method because it is difficult to know all of string property with very complicated non-linearity beforehand. We focus on realizing the momentary string shape in 2 dimensions in this paper. We confirmed the effectiveness of our proposed method by realizing five momentary shapes and 3 kinds of string properties. We also discussed the reproducibility and compatibility of estimated parameters and motion generation.

DOI： 10.1186/s40648-020-00187-w

Other Link： http://link.springer.com/article/10.1186/s40648-020-00187-w/fulltext.html

Event date： 2022.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2022.3

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Language：Japanese   Presentation type：Oral presentation (general)  

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.3

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2020.11

Language：English   Presentation type：Oral presentation (general)  

Event date： 2020.10

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2019.11

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2019.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2018.11

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2023.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：仙台国際センター