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A Versatile Gripper for Cloth Manipulation

Author
Donaire, S.; Borras, J.; Alenyà, G.; Torras, C.
Type of activity
Journal article
Journal
IEEE robotics and automation letters
Date of publication
2020-10
Volume
5
Number
4
First page
6520
Last page
6527
DOI
10.1109/LRA.2020.3015172
Project funding
CLOTH manIpulation Learning from DEmonstrations
JBS (Ramon y Cajal-2017-22703)
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/331585 Open in new window
URL
https://ieeexplore.ieee.org/document/9162474 Open in new window
Abstract
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...
Citation
Donaire Cónsul, S. [et al.]. A Versatile Gripper for Cloth Manipulation. "IEEE robotics and automation letters", Octubre 2020, vol. 5, núm. 4, p. 6520-6527.
Keywords
Intelligent robots, Manipulators, Robots
Group of research
ROBiri - IRI Robotics Group

Participants