NDLI: Deformable Object Manipulation - Study on Passive Tracing by Robot

Content Provider	IEEE Xplore Digital Library
Author	Salleh, K. Seki, H. Kamiya, Y. Hikizu, M.
Copyright Year	2007
Description	Author affiliation: Univ. Tanaga Nasional, Kajang (Salleh, K.)
Abstract	Deformable object manipulation is important for robots, especially home service robots. This is because unlike factory robots that handle rigid objects most of the time, these robots also need to be able to handle soft objects like clothes, rubber, paper etc. This paper proposes a unique tracing method for clothes manipulation by robots. The tracing method is used to reveal a second corner of a rectangular towel for spreading purposes, assuming that a first corner has been successfully grasped. Tracing in this paper's context is tracing the towel's edge, with the robot movement based on feedback from sensors. Using tracing method to find a second corner has been proven to be efficient in finding a second corner next to the first corner and not apposite it, resulting in the robot properly spreading the towel. The clothes manipulation system consists of two robot arms equipped with robot grippers, a CCD camera and an image processing board. Passive tracing is a method where the tracing gripper is static while the gripper holding the first corner maneuvers according to the feedback from sensors inside the static gripper so that it pulls the towel appropriately for the static gripper to trace the edge of the towel. Movement pattern is based on the sensors feedback inside the static gripper. Basically, the movement pattern is divided into two: inward the towel when the static gripper is too near to the edge of the towel and away from the towel when the gripper is too deep inside the towel. Force control is also applied to the static gripper during tracing so that it doesn't grip the towel too hard or vice versa. The CCD camera is used from time to time to check whether the static gripper has reached the second corner or not. Tracing experiments were conducted to evaluate the proposed method.
Starting Page	1
Ending Page	4
File Size	4092593
Page Count	4
File Format	PDF
ISBN	9781424414697
DOI	10.1109/SCORED.2007.4451375
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-12
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Charge coupled devices image processing Robot vision systems Manipulators Production facilities Grippers Service robots Feedback Edge tracing passive tracing Robot sensing systems home service robot (HSR) Rubber deformable object Charge-coupled image sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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