Demonstration of the gripper functionality. The gripper is provided by flexible element which allows finger flexible moving. When the fingers touch desk of the table, the finger flexible moves back. The finger push down on the desk by force correspond to 20N / 10mm. Flexible finger allow us follow the desk of the table and grasping garment lying on the table.
A garment is grasped by both Grippers of CloPeMa testbed robot. Then the garment is lifted by both robot arms and dropped back onto the table.
The CloPeMa testbed robot arm keeps constant distance from man. The man moves in front of the robot, his position is measured by Xtion 3D range sensor and the arm is navigated to position in constant distance from recognized obstacle (man)
Demonstration of motion planing for CloPeMa testbed (robot). Both arms movementplaned and realized by hardware. the arms swap their position.
Demonstration of motion planing for CloPeMa testbed (robot). Only movement of one arm is planed and realized by hardware.
CloPeMa testbed robot grasping a garmetn by one gripper (arm). Man throws the piece of garment is on table, robot measures position of the piece of garment by Xtion (3D range sensor). Grasping points are detected and selected. The robot arm grasp the piece of garment using the point.
