Clothes manipulation by robot rippers with roller fingertips
Unfolding or spreading is a very important process in clothes handling in order to sort out whether an item is a shirt, skirt, pants, etc. Spreading of clothes basically involves holding two corners of the clothes next to each other. The problem is finding the two corners. Usage of tracing manipulat...
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my.uniten.dspace-307272023-12-29T15:52:01Z Clothes manipulation by robot rippers with roller fingertips Sahari K.S.M. Seki H. Kamiya Y. Hikizu M. 57218170038 7202492680 35508847400 6506780601 Deformable object Edge tracing Home service robot Robot gripper Spreading of clothes Deformation Fabrics Grippers Mobile robots Rolling Sensors Contact forces Deformable object Home service robot Regrasping Robot gripper Robot movements Rolling mechanism Tracing method Problem solving Unfolding or spreading is a very important process in clothes handling in order to sort out whether an item is a shirt, skirt, pants, etc. Spreading of clothes basically involves holding two corners of the clothes next to each other. The problem is finding the two corners. Usage of tracing manipulation to find the second corner can solve this problem. However, there are also problems concerning tracing manipulation. One of the major problems is how to retrieve the fabric when it is in danger of slipping away from the gripper. The robot may be able to detect that the fabric is about to slip, but it is hard to retrieve or prevent it. If the robot tries to regrasp the fabric, it would probably slip away. If the robot tries to retrieve the fabric without regrasping it, it would most probably drag the fabric along instead of retrieving it. This is due to the fact that deformable objects are sensitive to contact forces. A simple solution to this problem is to design a special gripper that can trace the edge smoothly and can also perform fabric retrieval. This paper proposes a unique tracing method for towel spreading using two sensors-equipped grippers with a rolling mechanism at the fingertips. Tracing in the context of this paper involves tracing the towel's edge, with the robot movement based on feedback from sensors. The gripper will allow more flexibility towards fabric manipulation. Experimental results have demonstrated the effectiveness of both the method and the grippers. � 2010 VSP. Final 2023-12-29T07:52:01Z 2023-12-29T07:52:01Z 2010 Article 10.1163/016918609X12586175245158 2-s2.0-76649112747 https://www.scopus.com/inward/record.uri?eid=2-s2.0-76649112747&doi=10.1163%2f016918609X12586175245158&partnerID=40&md5=13093e6aee2cb73d2c0f9db9baca7a97 https://irepository.uniten.edu.my/handle/123456789/30727 24 01/02/2023 139 158 Scopus |
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Deformable object Edge tracing Home service robot Robot gripper Spreading of clothes Deformation Fabrics Grippers Mobile robots Rolling Sensors Contact forces Deformable object Home service robot Regrasping Robot gripper Robot movements Rolling mechanism Tracing method Problem solving |
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Deformable object Edge tracing Home service robot Robot gripper Spreading of clothes Deformation Fabrics Grippers Mobile robots Rolling Sensors Contact forces Deformable object Home service robot Regrasping Robot gripper Robot movements Rolling mechanism Tracing method Problem solving Sahari K.S.M. Seki H. Kamiya Y. Hikizu M. Clothes manipulation by robot rippers with roller fingertips |
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Unfolding or spreading is a very important process in clothes handling in order to sort out whether an item is a shirt, skirt, pants, etc. Spreading of clothes basically involves holding two corners of the clothes next to each other. The problem is finding the two corners. Usage of tracing manipulation to find the second corner can solve this problem. However, there are also problems concerning tracing manipulation. One of the major problems is how to retrieve the fabric when it is in danger of slipping away from the gripper. The robot may be able to detect that the fabric is about to slip, but it is hard to retrieve or prevent it. If the robot tries to regrasp the fabric, it would probably slip away. If the robot tries to retrieve the fabric without regrasping it, it would most probably drag the fabric along instead of retrieving it. This is due to the fact that deformable objects are sensitive to contact forces. A simple solution to this problem is to design a special gripper that can trace the edge smoothly and can also perform fabric retrieval. This paper proposes a unique tracing method for towel spreading using two sensors-equipped grippers with a rolling mechanism at the fingertips. Tracing in the context of this paper involves tracing the towel's edge, with the robot movement based on feedback from sensors. The gripper will allow more flexibility towards fabric manipulation. Experimental results have demonstrated the effectiveness of both the method and the grippers. � 2010 VSP. |
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57218170038 |
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57218170038 Sahari K.S.M. Seki H. Kamiya Y. Hikizu M. |
| format |
Article |
| author |
Sahari K.S.M. Seki H. Kamiya Y. Hikizu M. |
| author_sort |
Sahari K.S.M. |
| title |
Clothes manipulation by robot rippers with roller fingertips |
| title_short |
Clothes manipulation by robot rippers with roller fingertips |
| title_full |
Clothes manipulation by robot rippers with roller fingertips |
| title_fullStr |
Clothes manipulation by robot rippers with roller fingertips |
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Clothes manipulation by robot rippers with roller fingertips |
| title_sort |
clothes manipulation by robot rippers with roller fingertips |
| publishDate |
2023 |
| _version_ |
1806428312209195008 |
| score |
13.211869 |