Cloth Expansion Heads: Shinichi Hirai Contact: Mizuho Shibata Date: 2007 - 2012 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: JST Seeds Finding Trial (2007) Expansion and Placement of Fabrics using Visual Sensing Associated lab/group:

Project Description

This project aims at the development of a mechanical system that performs unfolding of clothes. The unfolding consists of grasping, expansion, and placing operatoins. We analyze dynamic expansion by pinching slip motion.

2007/7/9	Dr. Shibata and Prof. Hirai's proposal Expansion and Placement of Fabrics using Visual Sensing was accepted by Japan Science and Technology Agancy (JST). (HP)

Personnel

	Name	Title	Degree
	Mizuho Shibata	Kinki University	Ph.D
	Takaaki Inden	Graduated	Master of Eng.
	Tsuyoshi Ohta	Graduated	Master of Eng.

Publications

• Mizuho Shibata and Shinichi Hirai, A Pinching Strategy for Fabrics Using Wiping Deformation, Robotics, Vol.5, No.10, 10.3390/robotics5020010, Apr., 2016

• Mizuho Shibata and Shinichi Hirai, Fabric Manipulation Utilizing Contacts with the Environment, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.438-443, 10.1109/CoASE.2012.6386350, Seoul, Korea, Aug. 20-24, 2012
• Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion, Int. Conf. on Advanced Mechatronics (ICAM2010), Suita, Japan, Oct. 4-6, 2010
• Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Wiping Motion for Deformable Object Handling, Proc. IEEE Int. Conf. on Robotics and Automation, pp.134-139, 10.1109/ROBOT.2009.5152448, Kobe, Japan, May 12-17, 2009
• Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Virtual Rope Theory for Fabric Manipulation, Proc. IEEE Int. Symposium on Assembly and Manufacturing (ISAM 2009), pp.28-33, 10.1109/ISAM.2009.5376934, Suwon, Korea, Nov. 17-20, 2009
• Mizuho Shibata, Tsuyoshi Ota, Yoshimasa Endo, and Shinichi Hirai, Handling of Hemmed Fabrics by a Single-Armed Robot, 2008 IEEE Conf. on Automation Science and Engineering, pp.882-887, 10.1109/COASE.2008.4626476, Washington D.C., U.S.A., Aug. 23-26, 2008

Notes

Album	"Grasping, expansion, and placing of cloth" (mpg 3.0MB)	"Grasping, expansion, and placing of cloth" (mpg 3.7MB)	Grasping of cloth by human (mpg 1.4MB)	Expansion of cloth by human (mpg 1.2MB)
Placeing of cloth by human (mpg 1.0MB)

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