Daily Assistive Robot Uses a Bag for Carrying Objects with Pre-contact Sensing Gripper

  • Naoya Yamaguchi
  • Shun Hasegawa
  • Kei Okada
  • Masayuki Inaba
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


Since bags are often used at everyday life, it is important for robots to handle bags for daily assistance. Bag manipulation by robots can be divided into the following elements: 1. receiving it from human, 2. transporting it to the designated destination, 3. opening it by manipulating its handles and 4. picking objects from it. However, robots have trouble with handling bags, in that they are usually deformable and their inside are difficult to see. In this research, we propose a motion strategy considering the transformation and the visibility, using robot fingers on which proximity sensors are mounted all around. At the last of this paper, we verify that our method is effective in the 4 movements mentioned above, through an experiment in which a robot carries a bag and takes out the content.


Motion strategy Pre-contact Proximity sensor Deformable object 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Naoya Yamaguchi
    • 1
  • Shun Hasegawa
    • 1
  • Kei Okada
    • 1
  • Masayuki Inaba
    • 1
  1. 1.The University of TokyoTokyoJapan

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