Physics-based model of a rectangular garment for robotic folding
Vladimír Petrík, Vladimír Smutný, Pavel Krsek, Václav Hlaváč
Abstract
The ability to perform an accurate robotic fold is essential to obtain the properly folded garment. Available solutions rely on a rough folding surface or on a comprehensive simulation, both preventing the garment from slipping on the table during folding. This paper proposes a new algorithm for a folding path design respecting the garment material properties and preventing the garment slipping. The folding path is derived based on the equilibrium of forces under the simplifying assumptions of a rectangular and homogeneous garment. This approach allows folding the rectangular garment on a low friction table surface as we demonstrated in the experiments performed by a dual-arm robotic testbed.
BibTeX
@inproceedings{iros2016_physicsbasedmode,
title = {Physics-based model of a rectangular garment for robotic folding},
author = {Vladimír Petrík and Vladimír Smutný and Pavel Krsek and Václav Hlaváč},
booktitle = {IROS 2016},
year = {2016}
}