Inchworm robot grippers for clothes manipulation

Khairul Salleh, Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)142-147
Number of pages6
JournalArtificial Life and Robotics
Volume12
Issue number1-2
DOIs
Publication statusPublished - 01 Dec 2008

Fingerprint

Clothing
Grippers
Robots
End effectors
Plastics
Feedback
Sensors
Hand

All Science Journal Classification (ASJC) codes

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

Cite this

Salleh, Khairul ; Seki, Hiroaki ; Kamiya, Yoshitsugu ; Hikizu, Masatoshi. / Inchworm robot grippers for clothes manipulation. In: Artificial Life and Robotics. 2008 ; Vol. 12, No. 1-2. pp. 142-147.
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Inchworm robot grippers for clothes manipulation. / Salleh, Khairul; Seki, Hiroaki; Kamiya, Yoshitsugu; Hikizu, Masatoshi.

In: Artificial Life and Robotics, Vol. 12, No. 1-2, 01.12.2008, p. 142-147.

Research output: Contribution to journalArticle

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