Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand
The successful separation of a single sheet from a stack of paper is considered a paper-handling goal when using a robot hand. Under the condition of uncertain friction coefficients, a stochastic algorithm introducing randomness is formulated, which converges a paper stack to a state of single-sheet...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Applied System Innovation |
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| Online Access: | https://www.mdpi.com/2571-5577/7/6/131 |
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| author | Taku Senoo Atsushi Konno Yuuki Yamana Idaku Ishii |
| author_facet | Taku Senoo Atsushi Konno Yuuki Yamana Idaku Ishii |
| author_sort | Taku Senoo |
| collection | DOAJ |
| description | The successful separation of a single sheet from a stack of paper is considered a paper-handling goal when using a robot hand. Under the condition of uncertain friction coefficients, a stochastic algorithm introducing randomness is formulated, which converges a paper stack to a state of single-sheet separation through the repetition of simple robot operations. This formulation is based on the proposed motion strategy for a robotic hand, which introduces a state of a partially separated paper bundle to temporarily allow the simultaneous separation of multiple sheets and a return operation to return the paper to the original paper bundle. The experimental results indicate that a single sheet can be completely separated from a vertically standing stack of business-card-sized papers by shifting the paper in a high-speed translational movement using two fingers of the robot hand that grasp the paper from both sides. |
| format | Article |
| id | doaj-art-497bfe2822a4459f9363b30297f03dda |
| institution | DOAJ |
| issn | 2571-5577 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied System Innovation |
| spelling | doaj-art-497bfe2822a4459f9363b30297f03dda2025-08-20T02:55:54ZengMDPI AGApplied System Innovation2571-55772024-12-017613110.3390/asi7060131Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot HandTaku Senoo0Atsushi Konno1Yuuki Yamana2Idaku Ishii3Faculty of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, JapanFaculty of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, JapanGraduate School of Advanced Science and Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima 739-8527, JapanGraduate School of Advanced Science and Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima 739-8527, JapanThe successful separation of a single sheet from a stack of paper is considered a paper-handling goal when using a robot hand. Under the condition of uncertain friction coefficients, a stochastic algorithm introducing randomness is formulated, which converges a paper stack to a state of single-sheet separation through the repetition of simple robot operations. This formulation is based on the proposed motion strategy for a robotic hand, which introduces a state of a partially separated paper bundle to temporarily allow the simultaneous separation of multiple sheets and a return operation to return the paper to the original paper bundle. The experimental results indicate that a single sheet can be completely separated from a vertically standing stack of business-card-sized papers by shifting the paper in a high-speed translational movement using two fingers of the robot hand that grasp the paper from both sides.https://www.mdpi.com/2571-5577/7/6/131paper handlingfriction uncertaintyrobot handsingle-sheet separationvisual paper overlap detection |
| spellingShingle | Taku Senoo Atsushi Konno Yuuki Yamana Idaku Ishii Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand Applied System Innovation paper handling friction uncertainty robot hand single-sheet separation visual paper overlap detection |
| title | Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand |
| title_full | Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand |
| title_fullStr | Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand |
| title_full_unstemmed | Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand |
| title_short | Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand |
| title_sort | single sheet separation from paper stack based on friction uncertainty using high speed robot hand |
| topic | paper handling friction uncertainty robot hand single-sheet separation visual paper overlap detection |
| url | https://www.mdpi.com/2571-5577/7/6/131 |
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