Abstract
Problem statement: Edge tracing is considered important for deformable object manipulation in order to spread and reveal the original shape of an object before it can be sorted. It is important in unfolding clothes to reveal its original state during sorting. Tracing in this study context involved tracing the clothes edge, with the robot arm movement based on feedback from sensors. Development of special tools for deformable object manipulation is also considered to be important as well and must consider the properties of the deformable objects. Approach: This study introduced three robotic grippers developed to handle clothes for home service robots. For each gripper, a unique tracing algorithm was developed to fully utilize the capability of the gripper in edge tracing. Results: Each developed gripper had been tested and edge tracing algorithms have been developed to suit the gripper’s capabilities. Experimental results demonstrated the uniqueness of each gripper and the effectiveness of the tracing algorithm developed. Conclusion: The results showed that the grippers are capable of tracing the edge of clothes and reveal the second corner of the clothes. Inchworm gripper is proven to be the most promising gripper for clothes manipulation.
Highlights
Clothes manipulation by robot is considered one of the challenging tasks because of its deformability
Edge tracing is important in object recognition
By using tracing manipulation to find the second corner, it is proven that the second corner found is that next to the initially found corner and not the one apposite it (Salleh et al, 2008)
Summary
Clothes manipulation by robot is considered one of the challenging tasks because of its deformability. Due to contact and gravity, clothes rarely show their original shape In this case, edge tracing is important in object recognition. One of the major problems is how to retrieve the fabric when it is in danger of slipping away from the gripper. If the robot tries to regrasp the fabric, it would probably slip away. If the robot tries to retrieve the fabric without regrasping it, it would most probably drag the fabric along, flexing it instead of retrieving it This is due to the fact that deformable objects are sensitive to contact forces. The robot can be programmed to retrace the fabric from the beginning but this will take time The solution to this problem is to design a special tool that can trace the edge smoothly and can perform fabric retrieving. The developed grippers are evaluated in terms of their efficiency and effectiveness
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