A method of picking up a folded fabric product by a single-armed robot
| Autor: | Yusuke Moriya, Daisuke Tanaka, Kimitoshi Yamazaki, Keisuke Takeshita |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
A folded cloth
Deformable object recognition and manipulation A single-armed robot Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 5, Iss 1, Pp 1-12 (2018) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-017-0098-y |
| Popis: | Abstract 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. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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