単腕マニピュレータによる折り畳まれた布製品の適切な掴み上げ

抄録

This paper describes a robotic application to picking up a folded cloth by an articulated manipulator. It is assumed that an item of cloth is placed on a table, and our task is to pick up the cloth without being unfolding. We give a fundamental grasping point on a cloth item in advance. Meanwhile, the manipulator robot must estimate the pose of the cloth item, determine a grasping point, and plan grasping pose. We proposed methods of graspable hem detection, and grasping pose detection. Experimental results show the effectiveness of the proposed methods.