Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper

Takashi Yoshimi, Naoyuki Iwata, Makoto Mizukawa, Yoshinobu Andou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

One of the tasks which we expect executing by home service robots is a handling of thin objects like papers or plastic cards. It is a difficult task for the home service robots to pick up a thin object placed on the table, because it needs high dexterity. To achieve this motion by home service robots, we used a two-fingered parallel soft gripper with a soft nail, and constructed a sequence of picking up operation of a paper or a plastic card by a robot arm. The constructed sequence consists of sliding motion and raising motion. The robot slides a paper or a card and hooks its nail at the side of it, and raises one side of it, and picks it up like humans. In this paper, we propose a sequence of picking up operation of a paper or a plastic card on the table derived from the analysis of human motions, and confirm its availability through experiments.

Original languageEnglish
Title of host publicationProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012 - Munich
Duration: 2012 May 212012 May 23

Other

Other2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012
CityMunich
Period12/5/2112/5/23

Fingerprint

Grippers
Robots
Nails
Plastics
Hooks
Availability
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Yoshimi, T., Iwata, N., Mizukawa, M., & Andou, Y. (2012). Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper. In Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO (pp. 7-12). [6213390] https://doi.org/10.1109/ARSO.2012.6213390

Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper. / Yoshimi, Takashi; Iwata, Naoyuki; Mizukawa, Makoto; Andou, Yoshinobu.

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO. 2012. p. 7-12 6213390.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshimi, T, Iwata, N, Mizukawa, M & Andou, Y 2012, Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper. in Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO., 6213390, pp. 7-12, 2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012, Munich, 12/5/21. https://doi.org/10.1109/ARSO.2012.6213390
Yoshimi T, Iwata N, Mizukawa M, Andou Y. Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper. In Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO. 2012. p. 7-12. 6213390 https://doi.org/10.1109/ARSO.2012.6213390
Yoshimi, Takashi ; Iwata, Naoyuki ; Mizukawa, Makoto ; Andou, Yoshinobu. / Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper. Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO. 2012. pp. 7-12
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