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Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm

Unlike factory robots that handle rigid objects most of the time, home service robots need to be able to handle soft objects like clothes, rubber, paper etc. Dexterous manipulation is important when dealing with these deformable objects. For example, in clothes manipulation, it is important for the...

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Main Authors:	Salleh K., Seki H., Kamiya Y., Hikizu M.
Other Authors:	57218170038
Format:	Conference paper
Published:	2023
Subjects:	Deformation Edge detection Grippers Image processing Robotics Contact forces Deformable objects Dexterous manipulations Edge tracings Home services Inch-worms Rigid objects Robot grippers Soft objects Tracing algorithms Robots
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id	my.uniten.dspace-29760
record_format	dspace
spelling	my.uniten.dspace-297602023-12-28T16:57:34Z Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm Salleh K. Seki H. Kamiya Y. Hikizu M. 57218170038 7202492680 35508847400 6506780601 Deformation Edge detection Grippers Image processing Robotics Contact forces Deformable objects Dexterous manipulations Edge tracings Home services Inch-worms Rigid objects Robot grippers Soft objects Tracing algorithms Robots Unlike factory robots that handle rigid objects most of the time, home service robots need to be able to handle soft objects like clothes, rubber, paper etc. Dexterous manipulation is important when dealing with these deformable objects. For example, in clothes manipulation, it is important for the robot to recognize the shape of the clothes to identify it before sorting or folding it. In order to do that, the robot must first reveal the original state of the clothes which can be done by spreading it. Procedure for clothes spreading for any clothes will always involve grasping of two correct corners before the item is spread. Finding a corner of the clothes can be done by using image processing. The second corner is relatively harder to find because it has to be a corner next to the first corner and not appose it. Edge tracing method ensures the corner found to be a corner next to the first corner. One difficulty during edge tracing of clothes by a robot is to make it trace smoothly and fast without dropping the clothes in the process. The problem is how to retrieve or regrasp the clothes when it is in danger of slipping away from the gripper. This task is difficult due to the fact that deformable objects are sensitive to contact forces. One solution to this problem is to design a gripper that can trace without having to fear for the clothes to slip away. The usage of inchworm type grippers is proposed. Two sets of grippers will allow the robot to trace the clothes more freely because either one gripper will always be holding the clothes. This paper discusses the optimization of the parameters for edge tracing using the inchworm type grippers for towel spreading through experiment. �2007 IEEE. Final 2023-12-28T08:57:34Z 2023-12-28T08:57:34Z 2007 Conference paper 10.1109/ICIAS.2007.4658545 2-s2.0-57949110598 https://www.scopus.com/inward/record.uri?eid=2-s2.0-57949110598&doi=10.1109%2fICIAS.2007.4658545&partnerID=40&md5=a7424680b42f9b887514384836236e4b https://irepository.uniten.edu.my/handle/123456789/29760 4658545 1051 1055 Scopus
institution	Universiti Tenaga Nasional
building	UNITEN Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Tenaga Nasional
content_source	UNITEN Institutional Repository
url_provider	http://dspace.uniten.edu.my/
topic	Deformation Edge detection Grippers Image processing Robotics Contact forces Deformable objects Dexterous manipulations Edge tracings Home services Inch-worms Rigid objects Robot grippers Soft objects Tracing algorithms Robots
spellingShingle	Deformation Edge detection Grippers Image processing Robotics Contact forces Deformable objects Dexterous manipulations Edge tracings Home services Inch-worms Rigid objects Robot grippers Soft objects Tracing algorithms Robots Salleh K. Seki H. Kamiya Y. Hikizu M. Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
description	Unlike factory robots that handle rigid objects most of the time, home service robots need to be able to handle soft objects like clothes, rubber, paper etc. Dexterous manipulation is important when dealing with these deformable objects. For example, in clothes manipulation, it is important for the robot to recognize the shape of the clothes to identify it before sorting or folding it. In order to do that, the robot must first reveal the original state of the clothes which can be done by spreading it. Procedure for clothes spreading for any clothes will always involve grasping of two correct corners before the item is spread. Finding a corner of the clothes can be done by using image processing. The second corner is relatively harder to find because it has to be a corner next to the first corner and not appose it. Edge tracing method ensures the corner found to be a corner next to the first corner. One difficulty during edge tracing of clothes by a robot is to make it trace smoothly and fast without dropping the clothes in the process. The problem is how to retrieve or regrasp the clothes when it is in danger of slipping away from the gripper. This task is difficult due to the fact that deformable objects are sensitive to contact forces. One solution to this problem is to design a gripper that can trace without having to fear for the clothes to slip away. The usage of inchworm type grippers is proposed. Two sets of grippers will allow the robot to trace the clothes more freely because either one gripper will always be holding the clothes. This paper discusses the optimization of the parameters for edge tracing using the inchworm type grippers for towel spreading through experiment. �2007 IEEE.
author2	57218170038
author_facet	57218170038 Salleh K. Seki H. Kamiya Y. Hikizu M.
format	Conference paper
author	Salleh K. Seki H. Kamiya Y. Hikizu M.
author_sort	Salleh K.
title	Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
title_short	Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
title_full	Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
title_fullStr	Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
title_full_unstemmed	Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm
title_sort	inchworm robot grippers in clothes manipulation - optimizing the tracing algorithm
publishDate	2023
_version_	1806424048284991488
score	13.222552

Inchworm robot grippers in clothes manipulation - Optimizing the tracing algorithm

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