Clothes manipulation by inchworm robot grippers

Khairul Salleh, Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07
Pages344-347
Number of pages4
Publication statusPublished - 01 Dec 2007
Event12th International Symposium on Artificial Life and Robotics, AROB 12th'07 - Oita, Japan
Duration: 25 Jan 200727 Jan 2007

Publication series

NameProceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07

Other

Other12th International Symposium on Artificial Life and Robotics, AROB 12th'07
CountryJapan
CityOita
Period25/01/0727/01/07

Fingerprint

Grippers
Robots
Feedback
Sensors

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Salleh, K., Seki, H., Kamiya, Y., & Hikizu, M. (2007). Clothes manipulation by inchworm robot grippers. In Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 (pp. 344-347). (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).
Salleh, Khairul ; Seki, Hiroaki ; Kamiya, Yoshitsugu ; Hikizu, Masatoshi. / Clothes manipulation by inchworm robot grippers. Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07. 2007. pp. 344-347 (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).
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Salleh, K, Seki, H, Kamiya, Y & Hikizu, M 2007, Clothes manipulation by inchworm robot grippers. in Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07. Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07, pp. 344-347, 12th International Symposium on Artificial Life and Robotics, AROB 12th'07, Oita, Japan, 25/01/07.

Clothes manipulation by inchworm robot grippers. / Salleh, Khairul; Seki, Hiroaki; Kamiya, Yoshitsugu; Hikizu, Masatoshi.

Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07. 2007. p. 344-347 (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Salleh K, Seki H, Kamiya Y, Hikizu M. Clothes manipulation by inchworm robot grippers. In Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07. 2007. p. 344-347. (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).