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Clothes manipulation by robot rippers with roller fingertips

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dc.citedby12
dc.contributor.authorSahari K.S.M.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.accessioned2023-12-29T07:52:01Z
dc.date.available2023-12-29T07:52:01Z
dc.date.issued2010
dc.description.abstractUnfolding or spreading is a very important process in clothes handling in order to sort out whether an item is a shirt, skirt, pants, etc. Spreading of clothes basically involves holding two corners of the clothes next to each other. The problem is finding the two corners. Usage of tracing manipulation to find the second corner can solve this problem. However, there are also problems concerning tracing manipulation. One of the major problems is how to retrieve the fabric when it is in danger of slipping away from the gripper. The robot may be able to detect that the fabric is about to slip, but it is hard to retrieve or prevent it. If the robot tries to regrasp the fabric, it would probably slip away. If the robot tries to retrieve the fabric without regrasping it, it would most probably drag the fabric along instead of retrieving it. This is due to the fact that deformable objects are sensitive to contact forces. A simple solution to this problem is to design a special gripper that can trace the edge smoothly and can also perform fabric retrieval. This paper proposes a unique tracing method for towel spreading using two sensors-equipped grippers with a rolling mechanism at the fingertips. Tracing in the context of this paper involves tracing the towel's edge, with the robot movement based on feedback from sensors. The gripper will allow more flexibility towards fabric manipulation. Experimental results have demonstrated the effectiveness of both the method and the grippers. � 2010 VSP.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.1163/016918609X12586175245158
dc.identifier.epage158
dc.identifier.issue01/02/2023
dc.identifier.scopus2-s2.0-76649112747
dc.identifier.spage139
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-76649112747&doi=10.1163%2f016918609X12586175245158&partnerID=40&md5=13093e6aee2cb73d2c0f9db9baca7a97
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/30727
dc.identifier.volume24
dc.pagecount19
dc.sourceScopus
dc.sourcetitleAdvanced Robotics
dc.subjectDeformable object
dc.subjectEdge tracing
dc.subjectHome service robot
dc.subjectRobot gripper
dc.subjectSpreading of clothes
dc.subjectDeformation
dc.subjectFabrics
dc.subjectGrippers
dc.subjectMobile robots
dc.subjectRolling
dc.subjectSensors
dc.subjectContact forces
dc.subjectDeformable object
dc.subjectHome service robot
dc.subjectRegrasping
dc.subjectRobot gripper
dc.subjectRobot movements
dc.subjectRolling mechanism
dc.subjectTracing method
dc.subjectProblem solving
dc.titleClothes manipulation by robot rippers with roller fingertipsen_US
dc.typeArticleen_US
dspace.entity.typePublication
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