Deformable object manipulation - Study on passive tracing by robot

Khairul Salleh Mohamed Sahari, Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu

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

4 Citations (Scopus)

Abstract

Deformable object manipulation is important for robots, especially home service robots. This is because unlike factory robots that handle rigid objects most of the time, these robots also need to be able to handle soft objects like clothes, rubber, paper etc. This paper proposes a unique tracing method for clothes manipulation by robots. The tracing method is used to reveal a second corner of a rectangular towel for spreading purposes, assuming that a first corner has been successfully grasped. Tracing in this paper's context is tracing the towel's edge, with the robot movement based on feedback from sensors. Using tracing method to find a second corner has been proven to be efficient in finding a second corner next to the first corner and not apposite it, resulting in the robot properly spreading the towel. The clothes manipulation system consists of two robot arms equipped with robot grippers, a CCD camera and an image processing board. Passive tracing is a method where the tracing gripper is static while the gripper holding the first corner maneuvers according to the feedback from sensors inside the static gripper so that it pulls the towel appropriately for the static gripper to trace the edge of the towel. Movement pattern is based on the sensors feedback inside the static gripper. Basically, the movement pattern is divided into two: inward the towel when the static gripper is too near to the edge of the towel and away from the towel when the gripper is too deep inside the towel. Force control is also applied to the static gripper during tracing so that it doesn't grip the towel too hard or vice versa. The CCD camera is used from time to time to check whether the static gripper has reached the second corner or not. Tracing experiments were conducted to evaluate the proposed method.

Original languageEnglish
Title of host publication2007 5th Student Conference on Research and Development, SCORED
DOIs
Publication statusPublished - 2007
Event2007 5th Student Conference on Research and Development, SCORED - Selangor, Malaysia
Duration: 11 Dec 200712 Dec 2007

Other

Other2007 5th Student Conference on Research and Development, SCORED
CountryMalaysia
CitySelangor
Period11/12/0712/12/07

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robot
manipulation
Manipulation
Robot
factory
experiment

All Science Journal Classification (ASJC) codes

  • Education
  • Management Science and Operations Research

Cite this

Mohamed Sahari, K. S., Seki, H., Kamiya, Y., & Hikizu, M. (2007). Deformable object manipulation - Study on passive tracing by robot. In 2007 5th Student Conference on Research and Development, SCORED [4451375] https://doi.org/10.1109/SCORED.2007.4451375
Mohamed Sahari, Khairul Salleh ; Seki, Hiroaki ; Kamiya, Yoshitsugu ; Hikizu, Masatoshi. / Deformable object manipulation - Study on passive tracing by robot. 2007 5th Student Conference on Research and Development, SCORED. 2007.
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Mohamed Sahari, KS, Seki, H, Kamiya, Y & Hikizu, M 2007, Deformable object manipulation - Study on passive tracing by robot. in 2007 5th Student Conference on Research and Development, SCORED., 4451375, 2007 5th Student Conference on Research and Development, SCORED, Selangor, Malaysia, 11/12/07. https://doi.org/10.1109/SCORED.2007.4451375

Deformable object manipulation - Study on passive tracing by robot. / Mohamed Sahari, Khairul Salleh; Seki, Hiroaki; Kamiya, Yoshitsugu; Hikizu, Masatoshi.

2007 5th Student Conference on Research and Development, SCORED. 2007. 4451375.

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

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Mohamed Sahari KS, Seki H, Kamiya Y, Hikizu M. Deformable object manipulation - Study on passive tracing by robot. In 2007 5th Student Conference on Research and Development, SCORED. 2007. 4451375 https://doi.org/10.1109/SCORED.2007.4451375