Picking up a piece of fabric from layers by a hand with 3 fingers and a palm

This paper investigates the handling of a fabric - a limp material with softness and flexibility. The fabric is characterized not only by its malleability but also its nonlinear properties. These properties are considered for picking up a piece of fabric. The robot hand with 3 fingers and a palm, that is used to study various handling techniques, is introduced. Its performance when picking up a piece from layers is experimentally shown.

[1]  Zoe Doulgeri,et al.  A gripper for grasping non-rigid material pieces out of a bundle , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[2]  I. Stuart,et al.  A loop test for bending length and rigidity , 1966 .

[3]  Shinichi Hirai,et al.  Indirect simultaneous positioning operations of extensionally deformable objects , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[4]  Nobuyuki Kita,et al.  Strategy for unfolding a fabric piece by cooperative sensing of touch and vision , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[5]  N. Aisaka,et al.  Robot hand for handling cloth , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[6]  Eiichi Ono,et al.  Flexible Robotic Hand for Handling Fabric Pieces in Garment Manufacture , 1992 .

[7]  Fumihito Arai,et al.  Flexible object manipulation by dual manipulator system , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[8]  E. Ono,et al.  Automated Sewing System and Unfolding Fabric , 2000 .

[9]  Kimon P. Valavanis,et al.  Design and analysis of a reconfigurable robotic gripper for limp material handling , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).