TY - GEN
T1 - A study of towel folding by a robot arm - Spreading and vertex detection using image processing
AU - Oshima, Tomoya
AU - Yoshimi, Takashi
AU - Mizukawa, Makoto
AU - Ando, Yoshinobu
N1 - Publisher Copyright:
© 2014 Institute of Control, Robotics and Systems (ICROS).
PY - 2014/12/16
Y1 - 2014/12/16
N2 - In this study, we aim to construct a sequence of towel folding operations by a robot arm. In this paper, we propose the methods for spreading a towel and detecting the grasp positions. For the easy spreading of the towel, we propose how to put the towel on the table. The proposed method lifts one vertex of the towel, and detects the shadow part by using a camera image for recognizing the overlapped condition of the towel. For the folding motion of the towel, we set the vertices of the towel edges as grasping positions. So, we propose the way to detect the vertices of the towel correctly by generating a rectangle which includes all feature points of the towel by using image processing.
AB - In this study, we aim to construct a sequence of towel folding operations by a robot arm. In this paper, we propose the methods for spreading a towel and detecting the grasp positions. For the easy spreading of the towel, we propose how to put the towel on the table. The proposed method lifts one vertex of the towel, and detects the shadow part by using a camera image for recognizing the overlapped condition of the towel. For the folding motion of the towel, we set the vertices of the towel edges as grasping positions. So, we propose the way to detect the vertices of the towel correctly by generating a rectangle which includes all feature points of the towel by using image processing.
KW - Image processing
KW - Robot arm
KW - Towel folding task
UR - http://www.scopus.com/inward/record.url?scp=84920148891&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84920148891&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2014.6987856
DO - 10.1109/ICCAS.2014.6987856
M3 - Conference contribution
AN - SCOPUS:84920148891
T3 - International Conference on Control, Automation and Systems
SP - 627
EP - 631
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Y2 - 22 October 2014 through 25 October 2014
ER -