Abstract
This paper describes a representation method of fabric manipulation, referred to as virtual rope theory. In this theory, fabric manipulation by robotic grippers is considered equivalent to manipulation of a deformable rope. Based on the theory, we define various fabric manipulations; we can judge the success or failure of these manipulations quantitatively. We define a fabric manipulation using differential geometry coordinates. We confirm the applicability of the virtual rope theory by experimental unfolding of a fabric.
