Physics-Based Model of a Rectangular Garment for Robotic Folding
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00304202" target="_blank" >RIV/68407700:21230/16:00304202 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/16:00304202
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759164" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759164</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2016.7759164" target="_blank" >10.1109/IROS.2016.7759164</a>
Alternative languages
Result language
angličtina
Original language name
Physics-Based Model of a Rectangular Garment for Robotic Folding
Original language description
The ability to perform an accurate robotic fold is essential to obtain the properly folded garment. Available solutions rely on a rough folding surface or on a comprehensive simulation, both preventing the garment from slipping on the table during folding. This paper proposes a new algorithm for a folding path design respecting the garment material properties and preventing the garment slipping. The folding path is derived based on the equilibrium of forces under the simplifying assumptions of a rectangular and homogeneous garment. This approach allows folding the rectangular garment on a low friction table surface as we demonstrated in the experiments performed by a dual-arm robotic testbed.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on
ISBN
978-1-5090-3762-9
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
6
Pages from-to
951-956
Publisher name
IEEE
Place of publication
Piscataway
Event location
Daejeon
Event date
Oct 9, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000391921701018