小型カメラを有するロボットハンドを用いた衣類の摘み滑り動作

抄録

People can easily manipulate clothing, but it is very difficult for robots to manipulate them. This is because clothing deforms easily when subjected to external forces and is difficult to predict. For this reason, there are still many tasks involving clothing that have not yet been automated. The ultimate goal of this study is to automate a specific task in the clothing manufacturing process using a robot. In order to achieve this goal, we focused on the motion of sliding and unfolding a garment on its surface while grasping it. This motion is effective for clothing manipulation because it enables the robot to adjust the grasping points mid-air in order to guarantee the success of the task. A robot hand with a small camera at the end of the hand is used to realize the motion. A feedback method for the manipulator's hand position and posture based on the information obtained from the camera is implemented, and the operation is verified by experiments using the actual robot.