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Automated Microrobotic Manipulation of Paper Fiber Bonds

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2015 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015
KustantajaIEEE
Sivut784-789
Sivumäärä6
ISBN (painettu)978-1-4799-9994-1
DOI - pysyväislinkit
TilaJulkaistu - syyskuuta 2015
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS -
Kesto: 1 tammikuuta 1900 → …

Conference

ConferenceIEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Ajanjakso1/01/00 → …

Tiivistelmä

This paper presents a novel method for automated manipulation of individual paper fiber bonds using a microrobotic platform, a computer vision algorithm and a robotic software framework. This is a challenging task due to the three-dimensional, heterogeneous and complex morphology of the fiber bonds. The goal is to automatically grasp the fiber bond, and break it by pulling apart the fibers it consists of. We present the components of the microrobotic platform, and the different rules utilized in detecting suitable grasp points from a 3D reconstruction of the bond generated from an image pair. We demonstrate the functionality of the approach with bond breaking experiments of seven fiber bonds. The time required for grasping and breaking of a bond is 10 – 15 seconds making the approach much faster than the current state-of-the-art testing, which is based on manual manipulation. The success rate of the tests is as high as 80 %.

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