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This paper describes a method to pick up a folded cloth product by a single-armed robot. We focus on a problem on picking up a folded cloth, and organize tasks to attack it. Then, we propose methods of grasp position estimation composed of two stages: detection of the thickest folded hem and pose estimation of the cloth product. In addition, we attempt to search for appropriate grasping postures, and show that there are regions where the success rate of grasp was high. In experiments using an actual robot, we achieved a picking task with 92% success rate. |
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