A Versatile Gripper for Cloth Manipulation

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,...

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Detalles Bibliográficos
Autores: Donaire, Sònia, Borràs, Julia, Alenyà, Guillem, Torras, Carme
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2020
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/219780
Acceso en línea:http://hdl.handle.net/10261/219780
Access Level:acceso abierto
Palabra clave:Grippers and end effectors
Cloth manipulation
Grasping
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spelling A Versatile Gripper for Cloth ManipulationDonaire, SòniaBorràs, JuliaAlenyà, GuillemTorras, CarmeGrippers and end effectorsCloth manipulationGraspingCloth 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 tasksThis work receives funding from the European Union Horizon 2020 Programme under grant agreement no. 741930 (CLOTHILDE), Spanish State Research Agency through the Mar´ıa de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and the “Ramon y Cajal” Fellowship RYC-2017- 22703Peer reviewedInstitute of Electrical and Electronics EngineersEuropean CommissionMinisterio de Economía y Competitividad (España)Ministerio de Ciencia, Innovación y Universidades (España)Agencia Estatal de Investigación (España)Borràs, Julia [0000-0002-1662-2037]Alenyà, Guillem [0000-0002-6018-154X]Torras, Carme [0000-0002-2933-398X]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202020202020info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/219780reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/EC/H2020/74193info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/MDM-2016-0656info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RYC-2017-22703RYC-2017-22703/AEI/10.13039/501100011033https://doi.org/10.1109/LRA.2020.3015172Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2197802026-05-22T06:33:51Z
dc.title.none.fl_str_mv A Versatile Gripper for Cloth Manipulation
title A Versatile Gripper for Cloth Manipulation
spellingShingle A Versatile Gripper for Cloth Manipulation
Donaire, Sònia
Grippers and end effectors
Cloth manipulation
Grasping
title_short A Versatile Gripper for Cloth Manipulation
title_full A Versatile Gripper for Cloth Manipulation
title_fullStr A Versatile Gripper for Cloth Manipulation
title_full_unstemmed A Versatile Gripper for Cloth Manipulation
title_sort A Versatile Gripper for Cloth Manipulation
dc.creator.none.fl_str_mv Donaire, Sònia
Borràs, Julia
Alenyà, Guillem
Torras, Carme
author Donaire, Sònia
author_facet Donaire, Sònia
Borràs, Julia
Alenyà, Guillem
Torras, Carme
author_role author
author2 Borràs, Julia
Alenyà, Guillem
Torras, Carme
author2_role author
author
author
dc.contributor.none.fl_str_mv European Commission
Ministerio de Economía y Competitividad (España)
Ministerio de Ciencia, Innovación y Universidades (España)
Agencia Estatal de Investigación (España)
Borràs, Julia [0000-0002-1662-2037]
Alenyà, Guillem [0000-0002-6018-154X]
Torras, Carme [0000-0002-2933-398X]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Grippers and end effectors
Cloth manipulation
Grasping
topic Grippers and end effectors
Cloth manipulation
Grasping
description 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
publishDate 2020
dc.date.none.fl_str_mv 2020
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/219780
url http://hdl.handle.net/10261/219780
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/EC/H2020/74193
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/MDM-2016-0656
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RYC-2017-22703
RYC-2017-22703/AEI/10.13039/501100011033
https://doi.org/10.1109/LRA.2020.3015172
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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