Realization of Origami Manipulations with Robot Hand Utilizing Electroadhesion


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, 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.

第29回ロボティクスシンポジア予稿集 (ROBOSYM2024)