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
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976288
