Folding origami is such a challenge for robotic operation. Generally, for human, they use 2 hands when folding and forming the shape from folding pattern. However, building a robotic system which is capable of folding origami like human is not simple, since people have dozens of freedoms in their hand, sensitive skin and binocular vision. In this paper, we consider the folding ability of a 2-robotic-arm system, each hand has 2 fingers, instead of 5 fingers as human hand. Firstly, the difficulty of folding patterns is analyzed through an origami model: origami cylinder. Then, the design of robot system and gripper mechanism is figured out. The behaviors of robot arms are determined by observing human folding process, image segmentation is applied to track hand stages during folding process. The robot movement in each stage is explained and simulated on MATLAB.

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