Strategy for unfolding a fabric piece by cooperative sensing of touch and vision

A hand/eye system for handling flexible materials is under development. Our concern is to increase the effectiveness of a cooperative sensing of touch and vision for handling flexible and limp materials. We consider that a cooperative sensing of touch and vision is more important when flexible or limp objects such as fabrics are handled. This paper presents a strategy of sensor-based manipulation for unfolding a fabric piece in a case of primitive fabric handling movements. Vision and tactile sensing are used for picking up the folded part.

Authors

• Eiichi Ono
• Nobuyuki Kita
• Shigeyuki Sakane

Keywords

• Fabrics
• Shape
• Sensor systems
• Robot sensing systems
• Prototypes
• Polymers
• Chemical engineering
• Grippers
• Machine vision
• Pulp manufacturing
• Piece Of Cloth
• Tactile Sensor
• Flexible Materials
• CCD Camera
• Line Length
• Edge Detection
• Robotic Arm
• Vision Sensors
• Corner Points
• Robot Movement
• Robotic Hand
• Point P2