Origami Folding by a Robotic Hand
Kenta Tanaka, Yusuke Kamotani, and Yasuyoshi Yokokohji
Department of Mechanical Engineering and Science, Kyoto University, Yoshida-Honmachi, Kyoto 606-8501, Japan
Dexterous manipulation by a robotic hand is a difficult problem involving (1) how to design a robot that gives the capability to achieve the task and (2) how to control the designed robot to actually conduct the task. In this paper, we take a task-oriented approach called “task capture” to construct a dexterous robot hand system. Before designing the robot, we analyze how a human being conducts the task, focusing on how the target object is manipulated rather than trying to imitate human finger movement. Based on the captured task, we design a robot that manipulates an object in the same way as a human being may do, with a mechanism as simple as possible, rather than concerning human appearance. As a target task, we choose origami paper folding. We first analyze the difficulty of origami manipulation and design a robotic mechanism that folds an origami form, the Tadpole, based on the proposed approach. The proof of how well the “task capture” approach works is demonstrated by a simple robot we developed, which folds a Tadpole consecutively.
-  T. McGeer, “Passive dynamic walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
-  A. Goswami, B. Thuilot, and B. Espiau, “A study of the passive gait of a compass-like biped robot: Symmetry and chaos,” The Int. J. of Robotics Research, Vol.17, No.12, pp. 1282-1301, 1998.
-  M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, “The simplest walking model: Stability, complexity and scaling,” ASME J. of Biomechanical Engineering, Vol.120, No.2, pp. 281-288, 1998.
-  A. Goswami, B. Thuilot, and B. Espau, “Compass-like biped robot part i: Stability and bifurcation of passive ga its,” Technical Report 2996 INRIA, 1996.
-  Y. Sugimoto and K. Osuka, “Walking control of quasi-passive-dynamic-walking robot quartet iii based on delayed feedback control,” Proc. of the 5th Int. Conf. on Climbing and Walking Robots (CLAWAR), pp. 123-130, 2002.
-  F. Asano, M. Yamakita, and N. Kamamichi, “A novel gait generation for biped walking robots based on mechanical energy constraint,” Robotics and Automation, IEEE Transactions on, Vol.20, No.3, pp. 565-573, 2004.
-  S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive dynamic walkers,” Science Magazine, Vol.307, pp. 1082-1085, 2005.
-  T. Takuma and K. Hosoda, “Controlling the Walking Period of a Pneumatic Muscle Walker,” The Int. Journal of Robotics Research, Vol.25, No.9, p. 861, 2006.
-  M. Coleman, A. Chatterjee, and A. Ruina, “Motions of a rimless spoked wheel: A simple 3d system with impacts,” Dynamics and Stability of Systems, Vol.12, No.3, pp. 139-160, 1997.
-  S. L. Das and A. Chatterjee, “An alternative stability analysis technique for the simplest walker,” Nonlinear Dynamics, Vol.22, pp. 273-284, 2002.
-  K. Hirata and H. Kokame, “Stability analysis of linear systems with state jump,” Proc. of CCA2003, 2004.
-  Y. Sugimoto and K. Osuka, “Stability analysis of passive-dynamic walkingfocusing on the inner structure of poicaré map,” Proc. of 12th Int. Conf. on Advanced Robotics, 2005.
-  Y. Ikemata, A. Sano, and H. Fujimoto, “A physical principle of gait generation and its stabilization derived from mechanism of fixed point,” Proc. of the IEEE Int. Conf. on Robotics and Automation, 2006.
-  M. Garcia, A. Chatterjee, and A. Ruina, “Efficiency, speed, and scaling of two-dimensional passive-dynamic walking,” Dynamical Systems, Vol.15, No.2, pp. 75-99, 2000.
-  K. Osuka and K. Kirihara, “Motion analysis and experiments of passive walking robot quartet ii,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3052-3056, 2000.
-  J. W. Grizzle, F. Plestan, and G. Abba, “Poincare’s method for systems with impulse effects: Application to mechanical biped locomotion,” Proc. of the 38th Conf. on Decision & Control, pp. 3869-3876, 1999.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2008 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.