抄録
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.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | International Conference on Control, Automation and Systems |
| 出版者 | IEEE Computer Society |
| ページ | 627-631 |
| ページ数 | 5 |
| ISBN（印刷物） | 9788993215069 |
| DOI | |
| 出版物ステータス | Published - 2014 12 16 |
| イベント | 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do 継続期間: 2014 10 22 → 2014 10 25 |
Other
| Other | 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 |
|---|---|
| 市 | Gyeonggi-do |
| 期間 | 14/10/22 → 14/10/25 |
Fingerprint
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
これを引用
A study of towel folding by a robot arm - Spreading and vertex detection using image processing. / Oshima, Tomoya; Yoshimi, Takashi; Mizukawa, Makoto; Andou, Yoshinobu.
International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 627-631 6987856.研究成果: Conference contribution
}
TY - GEN
T1 - A study of towel folding by a robot arm - Spreading and vertex detection using image processing
AU - Oshima, Tomoya
AU - Yoshimi, Takashi
AU - Mizukawa, Makoto
AU - Andou, Yoshinobu
PY - 2014/12/16
Y1 - 2014/12/16
N2 - 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.
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.
KW - Image processing
KW - Robot arm
KW - Towel folding task
UR - http://www.scopus.com/inward/record.url?scp=84920148891&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84920148891&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2014.6987856
DO - 10.1109/ICCAS.2014.6987856
M3 - Conference contribution
AN - SCOPUS:84920148891
SN - 9788993215069
SP - 627
EP - 631
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
ER -