著者

吉本 公則 佐藤 諒 石原 佑彌 山口 明彦 吉川 雅博 池田 篤俊 高松 淳 小笠原 司

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._3P1-S03_1-_3P1-S03_4, 2014-05-24 (Released:2017-06-19)

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It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.