Towards the Design of a Human-Inspired Gripper for Textile Manipulation

Research output: A Conference proceeding or a Chapter in BookConference contribution

Abstract

Robots are fast becoming part of our daily lives, assisting us in a variety of applications. Rapid integration of autonomous agents into our routines has led to the exploration of novel research applications in robotics. One such area that has seen a recent resurgence is the manipulation of deformable objects such as textiles, an action which is simple to humans, but has been shown to be more challenging for robots. A simple fabric grasping action alone can be influenced by a multitude of parameters such as the end-effector utilised, the environment and the state of the grasping target. Previous research in designing end-effectors for deformable manipulation is discussed, arguing the need for approaching fabric manipulation from a human and hand-centric perspective to discover unique solutions. We then introduce a new approach of grasping deformable material through a novel robotic gripper design. A preliminary evaluation of the proposed end-effector’s design and ability to grasp material is presented and discussed, along with an outline of future research goals.
Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE 2020)
EditorsGeorge Q Huang, Michael Wang, Mariagrazia Dotoli
Place of PublicationUnited States
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages913-920
Number of pages8
ISBN (Print)9781728169040
DOIs
Publication statusPublished - 20 Aug 2020
Event2020 IEEE 16th International Conference on Automation Science and Engineering - Hong Kong, Hong Kong
Duration: 20 Aug 202021 Aug 2020
https://www.imse.hku.hk/case2020/

Conference

Conference2020 IEEE 16th International Conference on Automation Science and Engineering
Abbreviated titleCASE 2020
CountryHong Kong
CityHong Kong
Period20/08/2021/08/20
Internet address

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