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Clothes manipulation by inchworm robot grippers

Deformable objects manipulation by robot is very challenging. We focused on clothes manipulation as an example and applied edge tracing method in order to search for corners of particular clothes. Tracing in this paper context involves tracing the towel's edge, with the robot arm movement based...

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Main Authors: Salleh, K., Seki, H., Kamiya, Y., Hikizu, M.
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Published: 2018
Online Access:http://dspace.uniten.edu.my/jspui/handle/123456789/7025
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spelling my.uniten.dspace-70252018-01-11T08:28:02Z Clothes manipulation by inchworm robot grippers Salleh, K. Seki, H. Kamiya, Y. Hikizu, M. Deformable objects manipulation by robot is very challenging. We focused on clothes manipulation as an example and applied edge tracing method in order to search for corners of particular clothes. Tracing in this paper context involves tracing the towel's edge, with the robot arm movement based on feedback from sensors. Development of special tools for deformable object manipulation is also considered to be important as well and must consider the properties of the deformable objects. We designed inchworm type grippers for the purpose of clothes manipulation. This paper proposes a unique tracing method for towel spreading using the inchworm grippers. Experimental results have demonstrated the effectiveness of both the proposed method and the grippers. ©ISAROB 2007. 2018-01-11T08:28:02Z 2018-01-11T08:28:02Z 2007 http://dspace.uniten.edu.my/jspui/handle/123456789/7025
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/
description Deformable objects manipulation by robot is very challenging. We focused on clothes manipulation as an example and applied edge tracing method in order to search for corners of particular clothes. Tracing in this paper context involves tracing the towel's edge, with the robot arm movement based on feedback from sensors. Development of special tools for deformable object manipulation is also considered to be important as well and must consider the properties of the deformable objects. We designed inchworm type grippers for the purpose of clothes manipulation. This paper proposes a unique tracing method for towel spreading using the inchworm grippers. Experimental results have demonstrated the effectiveness of both the proposed method and the grippers. ©ISAROB 2007.
format
author Salleh, K.
Seki, H.
Kamiya, Y.
Hikizu, M.
spellingShingle Salleh, K.
Seki, H.
Kamiya, Y.
Hikizu, M.
Clothes manipulation by inchworm robot grippers
author_facet Salleh, K.
Seki, H.
Kamiya, Y.
Hikizu, M.
author_sort Salleh, K.
title Clothes manipulation by inchworm robot grippers
title_short Clothes manipulation by inchworm robot grippers
title_full Clothes manipulation by inchworm robot grippers
title_fullStr Clothes manipulation by inchworm robot grippers
title_full_unstemmed Clothes manipulation by inchworm robot grippers
title_sort clothes manipulation by inchworm robot grippers
publishDate 2018
url http://dspace.uniten.edu.my/jspui/handle/123456789/7025
_version_ 1644494084864212992
score 13.160551

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