Real-Time Tracking of Origami with Physics Simulator Considering Fold Lines

Hiroto ARASAKI, Akio NAMIKI

Keywords: Deformable object tracking, Simulation, Paper manipulation

Abstract: We address real-time tracking of paper during robotic folding by integrating fold-line geometry into a physics-based simulator, enabling localized plastic deformation. In experiments using a standard folding sequence, we succeeded in real-time tracking of a square-base folding sequence by combining point cloud information from multiple RGB-D cameras with estimates from the simulator.

Submission Number: 9