Cited by 42Robot Manipulation and LearningProsthetics and Rehabilitation RoboticsSocial Robot Interaction and HRI

Bottom dressing by a life-sized humanoid robot provided failure detection and recovery functions

Yamazaki, Kimitoshi, Oya, Ryosuke, Nagahama, Kotaro, Okada, Kei, Inaba, Masayuki·2014·2014 IEEE/SICE International Symposium on System Integration

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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Crossref · 10.1109/sii.2014.7028101

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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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