A study of towel folding by a robot arm - Spreading and vertex detection using image processing

Tomoya Oshima, Takashi Yoshimi, Makoto Mizukawa, Yoshinobu Andou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this study, we aim to construct a sequence of towel folding operations by a robot arm. In this paper, we propose the methods for spreading a towel and detecting the grasp positions. For the easy spreading of the towel, we propose how to put the towel on the table. The proposed method lifts one vertex of the towel, and detects the shadow part by using a camera image for recognizing the overlapped condition of the towel. For the folding motion of the towel, we set the vertices of the towel edges as grasping positions. So, we propose the way to detect the vertices of the towel correctly by generating a rectangle which includes all feature points of the towel by using image processing.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages627-631
Number of pages5
ISBN (Print)9788993215069
DOIs
Publication statusPublished - 2014 Dec 16
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do
Duration: 2014 Oct 222014 Oct 25

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CityGyeonggi-do
Period14/10/2214/10/25

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Keywords

  • Image processing
  • Robot arm
  • Towel folding task

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Oshima, T., Yoshimi, T., Mizukawa, M., & Andou, Y. (2014). A study of towel folding by a robot arm - Spreading and vertex detection using image processing. In International Conference on Control, Automation and Systems (pp. 627-631). [6987856] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987856