Title :
Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding
Author :
Maitin-Shepard, Jeremy ; Cusumano-Towner, Marco ; Lei, Jinna ; Abbeel, Pieter
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., UC Berkeley, Berkeley, CA, USA
Abstract :
We present a novel vision-based grasp point detection algorithm that can reliably detect the corners of a piece of cloth, using only geometric cues that are robust to variation in texture. Furthermore, we demonstrate the effectiveness of our algorithm in the context of folding a towel using a general-purpose two-armed mobile robotic platform without the use of specialized end-effectors or tools. The robot begins by picking up a randomly dropped towel from a table, goes through a sequence of vision-based re-grasps and manipulations-partially in the air, partially on the table-and finally stacks the folded towel in a target location. The reliability and robustness of our algorithm enables for the first time a robot with general purpose manipulators to reliably and fully-autonomously fold previously unseen towels, demonstrating success on all 50 out of 50 single-towel trials as well as on a pile of 5 towels.
Keywords :
clothing; manipulators; mobile robots; object detection; robot vision; service robots; general purpose manipulators; general-purpose two-armed mobile robotic platform; multiple-view geometric cues; robotic towel folding; vision-based grasp point detection algorithm; Clothing; Collaborative work; Detection algorithms; Machine learning algorithms; Manipulators; Mobile robots; Robot vision systems; Robotics and automation; Robustness; USA Councils;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509439