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

Author

Ono, Eiichi ; Kita, Nobuyuki ; Sakane, Shigeyuki

Author_Institution

Dept. of Polymer Eng., Nat. Inst. of Mater., Tsukuba, Japan

Volume

3

fYear

1995

fDate

5-9 Aug 1995

Firstpage

441

Abstract

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

Keywords

cooperative systems; industrial manipulators; manipulators; materials handling; robot vision; sensor fusion; tactile sensors; textile industry; cooperative sensing; fabric material unfolding; limp materials handling; robot vision; sensor-based manipulation; tactile sensing; touch sensing; Chemical engineering; Fabrics; Grippers; Machine vision; Polymers; Prototypes; Pulp manufacturing; Robot sensing systems; Sensor systems; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525922

Filename

525922