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

Takashi Yoshimi, Naoyuki Iwata, Makoto Mizukawa, Yoshinobu Ando

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

15 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 publication2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2012 Jul 16
Event2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012 - Munich, Germany
Duration: 2012 May 212012 May 23

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

Conference2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012
CountryGermany
CityMunich
Period12/5/2112/5/23

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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