DocumentCode
2095860
Title
Picking up a piece of fabric from layers by a hand with 3 fingers and a palm
Author
Ono, Eiichi ; Kitagaki, Kosei ; Kakikura, Masayoshi
Author_Institution
Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan
Volume
2
fYear
2001
fDate
2001
Firstpage
931
Abstract
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
Keywords
dexterous manipulators; force control; industrial manipulators; manipulator kinematics; pressure control; textile industry; 3 fingered hand; fabric material handling; flexible material handling; force control; manipulators; pressure control; Fabrics; Fingers; Grippers; Humans; Materials science and technology; Robot sensing systems; Service robots; Shape; Textile industry; Thumb;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.976288
Filename
976288
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