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
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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
<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