Strategy for Folding Clothing on the Basis of Deformable Models
| Autor: | Toshio Ueshiba, Yasuyo Kita, Nobuyuki Kita, Fumio Kanehiro |
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| Rok vydání: | 2014 |
| Předmět: |
Sequence
Matching (graph theory) Basis (linear algebra) business.industry Computer science ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Folding (DSP implementation) Clothing Task (project management) Computer vision Artificial intelligence State (computer science) business Humanoid robot Simulation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783319117546 ICIAR (2) |
| Popis: | In this study, a strategy is given for automatically reshaping an item of clothing from an arbitrary shape into a fixed shape by using its deformable model. The strategy consists of three stages that correspond to the clothing state: unknown (before recognition), unknown to known (recognition), and known (after recognition). In the first stage, a clothing item that is initially placed in an arbitrary shape is picked up and observed after some recognition-aid actions. In the second stage, the clothing state is recognized by matching the deformable clothing model to the observed 3D data [1]. In the third stage, a proper sequence of grasps toward the goal state is selected according to the clothing state. As an instance of this strategy, a folding task was implemented in a humanoid robot. Experimental results using pullovers show that the folding task can be achieved with a small number of grasping steps. |
| Databáze: | OpenAIRE |
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