Grasping and Alignment of Stacked Fabrics by Robot Hands with Sticky Fingers
Kazuki Kondo, Takuma Yamazaki, Kohei Kimura, Shunsuke Kudoh
Abstract
In this study, we propose and implement a method for grasping only the topmost layer of stacked fabrics with a dual-arm robot and placing it at a target position. The proposed method employs a three-finger robot hand consisting of one adhesive finger and two non-adhesive grasping fingers to grasp only the top fabric layer. After grasping, feature matching is performed to determine the rotation angle and translation vector required to align the fabric with the target position. The fabric is then moved while being pressed by the fingers. The proposed method was implemented on a robot and validated through experiments using five different fabrics with varying structures, surface materials, masses, and thicknesses, thereby confirming its effectiveness.
BibTeX
@inproceedings{iros2025_graspingandalign,
title = {Grasping and Alignment of Stacked Fabrics by Robot Hands with Sticky Fingers},
author = {Kazuki Kondo and Takuma Yamazaki and Kohei Kimura and Shunsuke Kudoh},
booktitle = {IROS 2025},
year = {2025}
}