14 accepted papers
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research pr…
Avoiding collision between the fabric and the obstacle is critical to transport fabric piece in the garment factory. If the fabric collides with the sharp-edged obstacle, it can be scratched or contaminated, resulting in poor product quality and increased waste. However, when we consider the fabric …
Inspired by human workers who perform complicated sewing tasks by repeating relatively simple operations, this paper proposes a fixture-free automated sewing system using a dual-arm manipulator and an ordinary sewing machine to sew two aligned fabrics along the edges, a common task in garment produc…
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol…
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that combines Transformer-driven visual servoing with dual-arm impedanc
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that combines Transformer-driven visual servoing with dual-arm impedanc…
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research pr
Avoiding collision between the fabric and the obstacle is critical to transport fabric piece in the garment factory. If the fabric collides with the sharp-edged obstacle, it can be scratched or contaminated, resulting in poor product quality and increased waste. However, when we consider the fabric
Inspired by human workers who perform complicated sewing tasks by repeating relatively simple operations, this paper proposes a fixture-free automated sewing system using a dual-arm manipulator and an ordinary sewing machine to sew two aligned fabrics along the edges, a common task in garment produc
The fabric deforms easily due to the physical constraints of its environment. The deformation of the fabric shape, including wrinkles, makes the precise pick-and-place of a piece of fabric difficult to automate its handling. This paper proposes a <underline xmlns:mml="http://www.w3.org/1998/Math/Mat
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol
This paper proposes CNN-based visual servoing for simultaneous positioning and flattening of a soft fabric part placed on a table by a dual manipulator system. We propose a network for multimodal data processing of grayscale images captured by a camera and force/torque applied to force sensors. The…
To reduce the risk of radiation leakages similar to the incident at the Fukushima Daiichi Nuclear Power Station, robots have been employed to remove fuel debris from reactors. To perform this process safely, it is important to monitor the interior of a reactor. A camera and neutron sensors are attac…
In this study, we propose a control strategy for a power-assisted cart based on its motion state. The power-assisted cart we developed has one motor, a differential gear, and brakes. This cart uses the motor and the differential gear for moving forward, and applying brakes to either wheel allows the…