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.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.