双腕ロボットによる衣服の裾部折り返し

抄録

This paper describes a method of folding the hem of clothes by a dual-arm robot. This paper aims to realize the hem folding process by four actions: shifting the front body to create a wrinkle on the hem to separate the front and back body, folding only the front body by grasping the wrinkle and moving it to the collar side, grasping the fold on the front body and moving it to the collar side, and pulling the stitch between the front and back body on the inside of clothes to the side. The above procedure was implemented on a robot and its effectiveness was verified by experimenting with five different clothes.