TY  - BOOK
AB  - The ability to manipulate deformable objects, such as textiles or                                                  
  paper, is a major prerequisite to bringing the capabilities of                                                     
  articulated robot hands closer to the level of manual intelligence                                                 
  exhibited by humans. We concentrate on the manipulation of paper,                                                  
  which affords us a rich interaction domain that has not yet been                                                   
  solved for anthropomorphic robot hands.  Robust tracking and                                                       
  physically plausible modeling of the paper as well as feedback based                                               
  robot control are crucial components for this task. This paper makes                                               
  two novel contributions to this area. The first concerns real-time                                                 
  modeling and visual tracking. Our technique not only models the                                                    
  bending of a sheet of paper, but also paper crease lines which                                                     
  allows us to monitor deformations. The second contribution concerns                                                
  enabling an anthropomorphic robot to fold paper, and is accomplished                                               
  by introducing a set of tactile- and vision-based closed loop
DA  - 2012
DO  - 10.1109/HUMANOIDS.2012.6651522
LA  - eng
PY  - 2012
SN  - 978-1-4673-1369-8
TI  - Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-25468772
Y2  - 2024-11-24T14:17:44
ER  -