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Static Stability of Robotic Fabric Strip Folding

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F20%3A00347756" target="_blank" >RIV/68407700:21730/20:00347756 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1109/TMECH.2020.2980957" target="_blank" >https://doi.org/10.1109/TMECH.2020.2980957</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/TMECH.2020.2980957" target="_blank" >10.1109/TMECH.2020.2980957</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Static Stability of Robotic Fabric Strip Folding

  • Original language description

    Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric strip folding performed by a robot is studied. We show that there is a static instability in the folding process. This instability is detected in a physics-based simulation and the position of the instability is verified experimentally by real robotic manipulation. Three state-of-the-art methods for folding are assessed in the presence of static instability. It is shown that one of the existing folding paths is suitable for folding of materials with internal friction such as fabrics. Another folding path that utilizes dynamic motion exists for ideal elastic materials without internal friction. Our results show that instability needs to be considered in planning to obtain accurate manipulation of deformable objects.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

    <a href="/en/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Intelligent Machine Perception</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2020

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    IEEE-ASME TRANSACTIONS ON MECHATRONICS

  • ISSN

    1083-4435

  • e-ISSN

    1941-014X

  • Volume of the periodical

    25

  • Issue of the periodical within the volume

    5

  • Country of publishing house

    US - UNITED STATES

  • Number of pages

    8

  • Pages from-to

    2493-2500

  • UT code for WoS article

    000578004900032

  • EID of the result in the Scopus database

    2-s2.0-85093975706