Unfolding folded fabric using outline information with vision and touch sensors

摘要

A hand/eye system for handling flexible materials is under development. Much more attention mustbe 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 manipulationstrategy for unfolding folded fabric. Fabric easily changes shape in 3-dimensional (3D) space. Partialpattern 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.