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Robotics 2016, 5(2), 10; doi:10.3390/robotics5020010

A Pinching Strategy for Fabrics Using Wiping Deformation

1
Department of Robotics, Kindai University, 1 Takaya Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan
2
Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 3 February 2016 / Revised: 1 April 2016 / Accepted: 1 April 2016 / Published: 7 April 2016
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Abstract

This paper discusses a strategy by which a robotic hand can use the physical properties of a fabric to pinch the fabric. Pinching may be accomplished by using a wiping motion, during which the movement and deformation of a deformable object occur simultaneously. The wiping motion differs from the displacement of a deformable object. During the wiping motion, there is contact, but no relative movement, between the manipulator and the object, whereas, during displacement, there is both contact and relative movement between the object and the floor. This paper first describes wiping motion and distinguishes wiping slide from wiping deformation by displacement of the internal points of an object. Wiping motion is also shown to be an extended scheme of pushing and sliding of rigid objects. Our strategy for pinching a fabric is accomplished with a combination of wiping deformation and residual deformation of the fabric under unloaded conditions. Using this strategy, a single-armed robotic hand can pinch both surfaces of the fabric without handover motion. View Full-Text
Keywords: fabric manipulation; pinching; wiping; residual deformation; buckling fabric manipulation; pinching; wiping; residual deformation; buckling
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Shibata, M.; Hirai, S. A Pinching Strategy for Fabrics Using Wiping Deformation. Robotics 2016, 5, 10.

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