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

Tomoya Oshima; Takashi Yoshimi; Makoto Mizukawa; Yoshinobu Ando

doi:10.1109/ICCAS.2014.6987856

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

Tomoya Oshima, Takashi Yoshimi, Makoto Mizukawa, Yoshinobu Ando

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	International Conference on Control, Automation and Systems
Publisher	IEEE Computer Society
Pages	627-631
Number of pages	5
ISBN (Electronic)	9788993215069
DOIs	https://doi.org/10.1109/ICCAS.2014.6987856
Publication status	Published - 2014 Dec 16
Event	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of Duration: 2014 Oct 22 → 2014 Oct 25

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Conference

Conference	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Country/Territory	Korea, Republic of
City	Gyeonggi-do
Period	14/10/22 → 14/10/25

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

Access to Document

10.1109/ICCAS.2014.6987856

Cite this

Oshima, T., Yoshimi, T., Mizukawa, M., & Ando, 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] (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987856

A study of towel folding by a robot arm - Spreading and vertex detection using image processing. / Oshima, Tomoya; Yoshimi, Takashi; Mizukawa, Makoto et al.

International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 627-631 6987856 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oshima, T, Yoshimi, T, Mizukawa, M & Ando, 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., 6987856, International Conference on Control, Automation and Systems, IEEE Computer Society, pp. 627-631, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 14/10/22. https://doi.org/10.1109/ICCAS.2014.6987856

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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.",

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AB - 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.

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

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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