Single Arm Robotic Garment Folding Path Generation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00318026" target="_blank" >RIV/68407700:21730/17:00318026 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/petrik/PetrikADR2017.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/petrik/PetrikADR2017.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1080/01691864.2017.1367325" target="_blank" >10.1080/01691864.2017.1367325</a>
Alternative languages
Result language
angličtina
Original language name
Single Arm Robotic Garment Folding Path Generation
Original language description
We address the accurate single arm robotic garment folding. The folding capability is influenced mostly by the folding path which is performed by the robotic arm. This paper presents a new method for the folding path generation based on the static equilibrium of forces. The existing approach based on a similar principle confirmed to be accurate for one-dimensional strips only. We generalize the method to two-dimensional shapes by modeling the garment as an elastic shell. The path generated by our method prevents the garment from slipping while folding on a low friction surface. We demonstrate the accuracy of this approach by comparing our paths (a) with the existing method when one-dimensional strips of different materials were modeled, and (b) experimentally with real robotic folding.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Advanced Robotics
ISSN
0169-1864
e-ISSN
1568-5535
Volume of the periodical
31
Issue of the periodical within the volume
23-24
Country of publishing house
GB - UNITED KINGDOM
Number of pages
13
Pages from-to
1325-1337
UT code for WoS article
000423295200007
EID of the result in the Scopus database
2-s2.0-85029405041