Tracing manipulation of deformable objects using robot grippers with roller fingertips

Khairul Salleh, Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu

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

4 Citations (Scopus)


Edge tracing is considered important for deformable object manipulation in order to reveal the original shape of the object, for example during pattern recognition. This paper proposes a unique tracing method for towel spreading which is a deformable object using two robot arms with sensors equipped grippers. 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. This paper also proposes the development of a unique pair of grippers with gear at both the tips for fabric manipulation purposes. The gripper will allow more flexibility towards fabric manipulation. Experimental results have demonstrated the effectiveness of both the method and the grippers.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 01 Dec 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 18 Oct 200621 Oct 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Salleh, K., Seki, H., Kamiya, Y., & Hikizu, M. (2006). Tracing manipulation of deformable objects using robot grippers with roller fingertips. In 2006 SICE-ICASE International Joint Conference (pp. 5882-5887). [4108631] (2006 SICE-ICASE International Joint Conference).