Publication:
Inchworm robot grippers for clothes manipulation

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dc.citedby15
dc.contributor.authorSalleh K.en_US
dc.contributor.authorSeki H.en_US
dc.contributor.authorKamiya Y.en_US
dc.contributor.authorHikizu M.en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid7202492680en_US
dc.contributor.authorid35508847400en_US
dc.contributor.authorid6506780601en_US
dc.date.accessioned2023-12-29T07:54:49Z
dc.date.available2023-12-29T07:54:49Z
dc.date.issued2008
dc.description.abstractManipulating 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. � 2008 International Symposium on Artificial Life and Robotics (ISAROB).en_US
dc.description.natureFinalen_US
dc.identifier.doi10.1007/s10015-007-0456-6
dc.identifier.epage147
dc.identifier.issue01/02/2023
dc.identifier.scopus2-s2.0-73449101130
dc.identifier.spage142
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-73449101130&doi=10.1007%2fs10015-007-0456-6&partnerID=40&md5=9fe0e18980bc52ae81c5a9449d0adecd
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/30860
dc.identifier.volume12
dc.pagecount5
dc.sourceScopus
dc.sourcetitleArtificial Life and Robotics
dc.subjectClothes spreading
dc.subjectDeformable object
dc.subjectEdge tracing
dc.subjectHome service robot
dc.subjectInchworm gripper
dc.subjectDeformation
dc.subjectGrippers
dc.subjectMobile robots
dc.subjectContact forces
dc.subjectDeformable object
dc.subjectEdge tracing
dc.subjectHome service robot
dc.subjectInchworm robot
dc.subjectManipulation methods
dc.subjectMovement-based
dc.subjectRobot hand
dc.subjectSpecial robot
dc.subjectTracing method
dc.subjectMachine design
dc.titleInchworm robot grippers for clothes manipulationen_US
dc.typeArticleen_US
dspace.entity.typePublication
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