Static Stability of Robotic Fabric Strip Folding

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Static Stability of Robotic Fabric Strip Folding

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Static Stability of Robotic Fabric Strip Folding

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Inteligentní strojové vnímání</a><br>

Návaznosti

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

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název periodika

IEEE-ASME TRANSACTIONS ON MECHATRONICS

ISSN

1083-4435

e-ISSN

1941-014X

Svazek periodika

25

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

2493-2500

Kód UT WoS článku

000578004900032

EID výsledku v databázi Scopus

2-s2.0-85093975706