Dual edge classifier for robust cloth unfolding
| Autor: | Antonio Gabas, Yasuyo Kita, Eiichi Yoshida |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Cloth manipulation
Deformable objects Unfolding Robot cloth unfolding 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 8, Iss 1, Pp 1-12 (2021) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-021-00202-8 |
| Popis: | Abstract Compared with more rigid objects, clothing items are inherently difficult for robots to recognize and manipulate. We propose a method for detecting how cloth is folded, to facilitate choosing a manipulative action that corresponds to a garment’s shape and position. The proposed method involves classifying the edges and corners of a garment by distinguishing between edges formed by folds and the hem or ragged edge of the cloth. Identifying the type of edges in a corner helps to determinate how the object is folded. This bottom-up approach, together with an active perception system, allows us to select strategies for robotic manipulation. We corroborate the method using a two-armed robot to manipulate towels of different shapes, textures, and sizes. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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