Inchworm robot grippers for clothes manipulation
Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing refers to tracing the clothes' edge, with...
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my.uniten.dspace-308602023-12-29T15:54:50Z Inchworm robot grippers for clothes manipulation Salleh K. Seki H. Kamiya Y. Hikizu M. 57218170038 7202492680 35508847400 6506780601 Clothes spreading Deformable object Edge tracing Home service robot Inchworm gripper Deformation Grippers Mobile robots Contact forces Deformable object Edge tracing Home service robot Inchworm robot Manipulation methods Movement-based Robot hand Special robot Tracing method Machine design Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing refers to tracing the clothes' edge, with the robot's movement based on feedback from sensors. One difficulty during this edge tracing is to make the robot trace smoothly and speedily without dropping the clothes in the process. This is due to the fact that deformable objects are sensitive to contact forces. A solution to this problem is to design a special robot gripper that can trace the clothes without having to worry about the clothes slipping away. In this paper, the development of inchworm-type grippers is proposed. Two sets of grippers inside a robot hand will allow the robot to trace the clothes more freely because there will always be a gripper firmly holding the clothes at any time. A unique tracing method for towel spreading using the inchworm grippers is also discussed. Experimental results have demonstrated the effectiveness of both the proposed grippers and also the algorithm. � 2008 International Symposium on Artificial Life and Robotics (ISAROB). Final 2023-12-29T07:54:49Z 2023-12-29T07:54:49Z 2008 Article 10.1007/s10015-007-0456-6 2-s2.0-73449101130 https://www.scopus.com/inward/record.uri?eid=2-s2.0-73449101130&doi=10.1007%2fs10015-007-0456-6&partnerID=40&md5=9fe0e18980bc52ae81c5a9449d0adecd https://irepository.uniten.edu.my/handle/123456789/30860 12 01/02/2023 142 147 Scopus |
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Clothes spreading Deformable object Edge tracing Home service robot Inchworm gripper Deformation Grippers Mobile robots Contact forces Deformable object Edge tracing Home service robot Inchworm robot Manipulation methods Movement-based Robot hand Special robot Tracing method Machine design |
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Clothes spreading Deformable object Edge tracing Home service robot Inchworm gripper Deformation Grippers Mobile robots Contact forces Deformable object Edge tracing Home service robot Inchworm robot Manipulation methods Movement-based Robot hand Special robot Tracing method Machine design Salleh K. Seki H. Kamiya Y. Hikizu M. Inchworm robot grippers for clothes manipulation |
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Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing refers to tracing the clothes' edge, with the robot's movement based on feedback from sensors. One difficulty during this edge tracing is to make the robot trace smoothly and speedily without dropping the clothes in the process. This is due to the fact that deformable objects are sensitive to contact forces. A solution to this problem is to design a special robot gripper that can trace the clothes without having to worry about the clothes slipping away. In this paper, the development of inchworm-type grippers is proposed. Two sets of grippers inside a robot hand will allow the robot to trace the clothes more freely because there will always be a gripper firmly holding the clothes at any time. A unique tracing method for towel spreading using the inchworm grippers is also discussed. Experimental results have demonstrated the effectiveness of both the proposed grippers and also the algorithm. � 2008 International Symposium on Artificial Life and Robotics (ISAROB). |
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57218170038 |
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57218170038 Salleh K. Seki H. Kamiya Y. Hikizu M. |
| format |
Article |
| author |
Salleh K. Seki H. Kamiya Y. Hikizu M. |
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Salleh K. |
| title |
Inchworm robot grippers for clothes manipulation |
| title_short |
Inchworm robot grippers for clothes manipulation |
| title_full |
Inchworm robot grippers for clothes manipulation |
| title_fullStr |
Inchworm robot grippers for clothes manipulation |
| title_full_unstemmed |
Inchworm robot grippers for clothes manipulation |
| title_sort |
inchworm robot grippers for clothes manipulation |
| publishDate |
2023 |
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1806427376157982720 |
| score |
13.222552 |