Sequence trajectory generation for garment handling systems

Abstract

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.

Survey on model-based manipulation planning of deformable objects

“…At a more abstract level, precedence constraints ("don't fold the body before folding the sleeves"), user-defined or arising from geometric considerations, are considered in action sequencing. Pure geometric models plus simplifying assumptions on the physics of garment handling are used in cloth folding [71,72] Most robotic cloth handling applications up to date use simple models like coarse spring models, the geometric outline of the piece of garment, or no model at all. Contributions include indirect positioning systems [73], unfolding tasks [74][75][76][77], folding towels [77], or wiping motions [78].…”