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Human Robot Collaboration for Folding Fabrics Based on Force/RGB-D Feedback

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Advances in Robot Design and Intelligent Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

Abstract

In this paper, the human-robot collaboration for executing complicated handling tasks for folding non-rigid objects is investigated. A hierarchical control system is developed for the co-manipulation task of folding sheets like fabrics/cloths. The system is based on force and RGB-D feedback in both higher and lower control levels of the process. In the higher level, the perception of the human’s intention is used for deciding the robot’s action; in the lower level the robot reacts to the force/RGB-D feedback to follow human guidance. The proposed approach is tested in folding a rectangular piece of fabric. Experiments showed that the developed robotic system is able to track the human’s movement in order to help her/him to accomplish the folding co-manipulation task.

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Notes

  1. 1.

    Rethink Robotics, http://youtu.be/Mr7U9pQtwq8.

  2. 2.

    CloPeMa research project, http://youtu.be/gK7yuPfzuD4.

  3. 3.

    UC Berkeley Folding Robot, http://youtu.be/gy5g33S0Gzo.

  4. 4.

    A demonstration of the folding task can be viewed in the Robotics Group YouTube channel.

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Author information

Authors and Affiliations

  1. Mechanical Engineering and Aeronautics Department, University of Patras, Rio Patras, Greece

    Panagiotis N. Koustoumpardis, Konstantinos I. Chatzilygeroudis, Aris I. Synodinos & Nikos A. Aspragathos

Authors
  1. Panagiotis N. Koustoumpardis
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  2. Konstantinos I. Chatzilygeroudis
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  3. Aris I. Synodinos
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  4. Nikos A. Aspragathos
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Corresponding author

Correspondence to Panagiotis N. Koustoumpardis .

Editor information

Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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© 2016 Springer International Publishing Switzerland

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Koustoumpardis, P.N., Chatzilygeroudis, K.I., Synodinos, A.I., Aspragathos, N.A. (2016). Human Robot Collaboration for Folding Fabrics Based on Force/RGB-D Feedback. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_24

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

  • eBook Packages: EngineeringEngineering (R0)

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