Sliding the gripper under the garment

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.

Repeated grasping of a garment

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.