A robotic system for handling textile and non rigid flat materials

Paraschidis, K.; Fahantidis, N.; Petridis, V.; Doulgeri, Zoe; Petrou, Loukas; Hasapis, G.

doi:10.1016/0166-3615(95)00022-v

Cited by 33 publications

(23 citation statements)

References 3 publications

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“…Emerging research on non-rigid objects includes motion planning algorithms for deformable linear objects (DLOs) like ropes, cables, and sutures [13], [14]; Probabilistic RoadMap (PRM) planners for a flexible surface patch [15] or deformable object [16]; learning approaches to sense and model deformable surfaces [17], [18], [19]; and fabric manipulation for textile applications [20], [21], [22]. In particular, the problem of automating laundry has been receiving attention recently because of the increasing availability of calibrated two-handed robots like the PR2.…”

Section: Previous Workmentioning

confidence: 99%

An energy minimization approach to 3D non-rigid deformable surface estimation using RGBD data

Willimon

Hickson

Walker

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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We propose an algorithm that uses energy minimization to estimate the current configuration of a non-rigid object. Our approach utilizes an RGBD image to calculate corresponding SURF features, depth, and boundary information. We do not use predetermined features, thus enabling our system to operate on unmodified objects. Our approach relies on a 3D nonlinear energy minimization framework to solve for the configuration using a semi-implicit scheme. Results show various scenarios of dynamic posters and shirts in different configurations to illustrate the performance of the method. In particular, we show that our method is able to estimate the configuration of a textureless nonrigid object with no correspondences available.

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Section: Previous Workmentioning

confidence: 99%

An energy minimization approach to 3D non-rigid deformable surface estimation using RGBD data

Willimon

Hickson

Walker

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Paraschidis et al [3] designed the robot system to handle flat materials by incorporating vision and force/torque sensing. Potluri et al [4] designed the fabric testing robotic system in garment assembly.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, a number of robot systems has been designed [1][2][3][4][5][6] for the garment inspection. Paraschidis et al [3] designed the robot system to handle flat materials by incorporating vision and force/torque sensing.…”

Section: Introductionmentioning

confidence: 99%

Smart hanger dynamic modeling and fuzzy controller design

Fung

Wong

Ma³

et al. 2011

Int. J. Control Autom. Syst.

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The controlled smart hanger is an indispensable component in the automatic system for garment inspection. Fuzzy logic is chosen for the smart hanger manipulator since it can describe the human behavior remarkably well. In this paper, the dynamic model of the manipulator governing the contact force with garment fabric is first developed. An adaptive fuzzy logic PID control scheme is successfully formulated for the contact force control. Simulation results indicate that the fuzzy PID controller can yield a faster response without overshoot and a smaller error performance as compared to the traditional method based on PID. The stability of the fuzzy PID controller is also demonstrated by computer simulations.

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“…Automatic handling systems that can be reprogrammed to perform a different task in relation to rigid objects are readily available [1]. However, the use of robotics for automatic handling of textile materials brings serious difficulties for automation as their shape, position, orientation and other physical and mechanical properties can vary in unpredictable ways; depending on the dynamics of the material and the environmental conditions [2,3]. Moreover, the unique characteristics of floppy material and the complex interaction between the material properties and handling devices can make automated processes become inefficient if the processes are unable to adjust systematically to the changes of properties of the materials to be handled [4].…”

Section: Introductionmentioning

confidence: 99%

Sequence trajectory generation for garment handling systems

Liu

Lin

2008

Applied Mathematical Modelling

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This paper presents a novel generic approach to the planning strategy of garment handling systems. An assumption is proposed to separate the components of such systems into a component for intelligent gripper techniques and a component for handling planning strategies. Researchers can concentrate on one of the two components first, then merge the two problems together. An algorithm is addressed to generate the trajectory position and a clothes handling sequence of clothes partitions, which are outlined by garment folding creases. The trajectory positions are derived using configuration transformations. The handling sequence is calculated based on the analysis of the adjacency matrix of the graph description of the garment. A case study of the handling procedure of a female shirt is explained through the paper.

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A robotic system for handling textile and non rigid flat materials

Cited by 33 publications

References 3 publications

An energy minimization approach to 3D non-rigid deformable surface estimation using RGBD data

An energy minimization approach to 3D non-rigid deformable surface estimation using RGBD data

Smart hanger dynamic modeling and fuzzy controller design

Sequence trajectory generation for garment handling systems

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