Robot system for cloth handling

Hata, Seiji; Hiroyasu, Takehisa; Hayashi, Jun-ichiro; Hojoh, Hirotaka; Hamada, Toshihiro

doi:10.1109/iecon.2008.4758515

Cited by 21 publications

(11 citation statements)

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“…Conversely, state estimation can also be a standalone task in the cases where a single type of cloth items (e.g. towels in [32] or in [26]) are dealt with. The connection between grasp point selection and state estimation is quite tight in the case where the state of the cloth item is determined by the point (one or two of a discrete set of nodes) where it is grasped and hanging.…”

Section: Discussionmentioning

confidence: 99%

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Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview

Jiménez

2017

Robotics and Autonomous Systems

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Cloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the challenges posed by the manipulation of soft materials, and many contributions have appeared in the last years. This survey provides a systematic review of existing techniques for the basic perceptual tasks of grasp point localization, state estimation and classification of cloth items, from the perspective of their manipulation by robots. This choice is grounded on the fact that any manipulative action requires to instruct the robot where to grasp, and most garment handling activities depend on the correct recognition of the type to which the particular cloth item belongs and its state. The high inter-and intraclass variability of garments, the continuous nature of the possible deformations of cloth and the evident difficulties in predicting their localization and extension on the garment piece are challenges that have encouraged the researchers to provide a plethora of methods to confront such problems, with some promising results. The present review constitutes for the first time an effort in furnishing a structured framework of these works, with the aim of helping future contributors to gain both insight and perspective on the subject.

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Section: Discussionmentioning

confidence: 99%

“…This is achieved in [32] by projecting a regular dot and mesh pattern on the items to be handled (towels in this case). Highest points of the crumpled towel, as well as corners are detected this way via shape extraction and contour tracing.…”

Section: Segmentation and Heightmentioning

confidence: 99%

Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview

Jiménez

2017

Robotics and Autonomous Systems

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“…While some research is carried out on systems built by simply placing two single-arm manipulators to share the same workspace [9,16,129], considerable effort has also been put into constructing dedicated dual arm platforms. Some of these put the effort on manipulation capability, and target industrial manufacturing applications, such as the Toyota Dual Arm Robot [132], the Yaskawa Motoman SDA10D [14], the ABB Frida [135] the Korea Institute of Machinery & Materials dual arm robot [28], the Kawada Hiro [29], the SHARP household robot [27], or the Pi4 Workerbot [30], each of which is shaped like a "torso", and primarily intended for stationary deployment.…”

Section: Dual Arm Systemsmentioning

confidence: 99%

“…In [122], the PR2 is used to grab one corner of a towel and lift it up and let gravity unfold it to detect further corners using vision. Early considerations about using a visually guided dual-arm robot to interact with clothes have been reported in [127], and in an industrial setting [129] focuses on fixedframe vision-based techniques to detect and model the shape of clothing items to manipulate with industrial robots, and compare the performance of grabbing the highest point of a pile of towels with grabbing a rough approximation of one end of a towel. In [100] a dual-arm robotic setup for clothes manipulation using a pair of industrial robots (Kawasaki Js2 and Yamaha Rch-40) is presented.…”

Section: Applicationsmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

452

208

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

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“…Experimental cloth handling robot for press/folding line [2] The first experimental cloth handling robot system to automate the input task to press has been developed. Here, the grasping free corner method and two corner grasping robot system has been employed.…”

Section: A Analysis Of Clothe Handling Taskmentioning

confidence: 99%

Cloth handling system for linen supply indust

Hata

Hojoh²,

Toda³

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

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Flexible objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories of linen supply industry are severe because of dusts, heats and steams, and full automation systems which can handle clothes are highly required. To automate these factories, two clothe handling systems have been developed. One is the system to input the washed clothes to the pressing and folding machines. The other is the system to classify the dirty clothes from hotels and hospitals according the kind of clothes, such as sheets, covers, pillow covers and others. To construct the systems, there have been developed many key technologies, such as 3-D vision systems, a towel mark recognition system, a force sensor system, a long stroke drawing robot hand and partially constrained corner pulling out mechanism, etc. Using these key components, two clothe handling system have been constructed. Several experiments show that these systems have achieved required success rate of the clothe handling.

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Robot system for cloth handling

Cited by 21 publications

References 0 publications

Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview

Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: An overview

Dual arm manipulation—A survey

Cloth handling system for linen supply indust

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