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A Versatile Gripper for Cloth Manipulation
dc.contributor.author | Donaire Cónsul, Sònia |
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-11-06T11:49:17Z |
dc.date.available | 2022-11-01T01:28:39Z |
dc.date.issued | 2020-10 |
dc.identifier.citation | Donaire Cónsul, S. [et al.]. A Versatile Gripper for Cloth Manipulation. "IEEE robotics and automation letters", Octubre 2020, vol. 5, núm. 4, p. 6520-6527. |
dc.identifier.issn | 2377-3766 |
dc.identifier.uri | http://hdl.handle.net/2117/331585 |
dc.description.abstract | Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most implementations use a parallel gripper that can only perform pinch grasps. Instead, a more versatile set of possible grasp types could ease many tasks by providing more support to certain parts of the object, as well as make feasible tasks that become very complex when executed with only pinch grasps. We present a versatile gripper design which, besides the common open-close thumb+finger(s) feature, it has a couple of reconfiguration degrees of freedom that offer, first, a wide base plane to provide support and, second, variable friction surface on the thumb tip. Our gripper can execute a versatile set of grasps that ease some complex tasks such as pick and place folded clothes or fold in the air. In addition, the variable friction mechanism enables a more robust pinch-and-slide manipulation to trace cloth edges. Our evaluation shows the gripper potential to execute a wide variety of cloth manipulation tasks. |
dc.description.sponsorship | This work receives funding from the European Union Horizon 2020 Programme under grant agreement no. 741930 (CLOTHILDE), Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and the “Ramon y Cajal” Fellowship RYC-2017-22703 |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Textile fabrics |
dc.subject.lcsh | Materials handling |
dc.subject.lcsh | Manipulators (Mecanism) |
dc.subject.other | Intelligent robots |
dc.subject.other | Manipulators |
dc.subject.other | Robots |
dc.title | A Versatile Gripper for Cloth Manipulation |
dc.type | Article |
dc.subject.lemac | Teixits i tèxtils |
dc.subject.lemac | Materials -- Manipulació |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.contributor.group | Universitat Politècnica de Catalunya. TUAREG - Turbulence and Aerodynamics in Mechanical and Aerospace Engineering Research Group |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/LRA.2020.3015172 |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9162474 |
dc.rights.access | Open Access |
local.identifier.drac | 29723142 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE |
local.citation.author | Rodriguez-Donaire, S.; Borras, J.; Alenyà, G.; Torras, C. |
local.citation.publicationName | IEEE robotics and automation letters |
local.citation.volume | 5 |
local.citation.number | 4 |
local.citation.startingPage | 6520 |
local.citation.endingPage | 6527 |
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