Bottom dressing by a life-sized humanoid robot provided failure detection and recovery functions
Abstract
This paper describes dressing assistance by an autonomous robot. We especially focus on a dressing action that is particularly problematic for disabled people: the pulling of a bottom along the legs. To avoid injuring the subject's legs, the robot should recognize the state of the manipulated clothing. Therefore, while handling the clothing, the robot is supplied with both visual and force sensory information. Based on the them, dressing failure is detected and recovery from the failure is planned automatically. The effectiveness of the proposed approach is implemented and validated in a life-sized humanoid robot.
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The ability to recover from failures without repositioning the target human is equally significant.
“The ability to recover from failures without repositioning the target human [298,309] is equally significant.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [298]
The system needs to detect success and different error states.
“In addition, the system needs to detect success and different error states [298,301,309,315,316,317].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [298]
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- Authors
- Yamazaki, K., Oya, R., Nagahama, K., Okada, K., & Inaba, M.
- Affiliations
- Shinshu University (JP)
- The University of Tokyo (JP)
- Venue
- 2014 IEEE/SICE International Symposium on System Integration
- Publisher
- IEEE
- Published
- 2014-12
- Pages
- 564-570
- OpenAlex
- W2068872940
- Cited by
- 42
- References
- 24
- Citations by year
- 2026: 2 · 2025: 1 · 2024: 1 · 2023: 7 · 2022: 6 · 2021: 2 · 2020: 2 · 2019: 3 · 2018: 6 · 2017: 9 · 2016: 2 · 2015: 1
- FWCI
- 5.54
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE/SICE International Symposium on System Integration (SII) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Social Sciences › Psychology › Social Psychology › Social Robot Interaction and HRI
- Keywords
- humanoid robots
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