Unfolding Folded Fabric Using Outline Information with Vision and Touch Sensors
Eiichi Ono*,**, Nobuyuki Kita** and Shigeyuki Sakane***
*National Institute for Materials and Chemical Research, 1-1 Higashi, Tsukuba, lbaraki 305-8565, Japan
**Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, lbaraki 305-8568, Japan
***Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
A hand/eye system for handling flexible materials is under development. Much more attention must be paid to cooperative touch and vision sensing when handling flexible or limp objects such as fabric. This paper presents basic concepts for handling flexible materials and a sensor-based manipulation strategy for unfolding folded fabric. Fabric easily changes shape in 3-dimensional (3D) space. Partial pattern matching of fabrics using outline information can determine where a corner was folded. In this paper, vision and tactile sensing were used to pick up folded fabric.