Unfolding Folded Fabric Using Outline Information with Vision and Touch Sensors | Zendy

Eiichi Ōno | Zendy; Nobuyuki Kita | Zendy; Shigeyuki Sakane | Zendy

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Unfolding Folded Fabric Using Outline Information with Vision and Touch Sensors

Author(s) -

Eiichi Ōno,

Nobuyuki Kita,

Shigeyuki Sakane

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0235

Subject(s) - computer vision , computer science , artificial intelligence , tactile sensor , matching (statistics) , robotic hand , machine vision , human–computer interaction , computer graphics (images) , robot , statistics , mathematics

A hand/eye system for handling flexible materials is under development. Much more attention must be paid to cooperative touch and vision sensing when handling flexible or limp objects such as fabric. This paper presents basic concepts for handling flexible materials and a sensor-based manipulation strategy for unfolding folded fabric. Fabric easily changes shape in 3-dimensional (3D) space. Partial pattern matching of fabrics using outline information can determine where a corner was folded. In this paper, vision and tactile sensing were used to pick up folded fabric.

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