Variable-Friction-Based In-Hand Manipulation of Fabrics Applied to Unfolding Operations

Haizhuang Jiang; Xin Jiang; Yanling Zhou; Haoyao Chen; Peng Li; Yunhui Liu

RA-L 20223 citations

Variable-Friction-Based In-Hand Manipulation of Fabrics Applied to Unfolding Operations

Haizhuang Jiang, Xin Jiang, Yanling Zhou, Haoyao Chen, Peng Li, Yunhui Liu

Abstract

The automatic state recognition and handling of fabrics, which are typical deformable objects, is difficult to realize. The development of related technologies for fabric manipulation remains impractical. This research was inspired by the process by which humans handle fabrics using their fingers. We proposed an in-hand manipulation method for fabrics based on variable friction and verified its effectiveness by sliding a single sheet of fabric and unfolding using in-hand manipulation functions. Experimental results demonstrate that the in-hand manipulation functions proposed in this study have the potential to solve complex problems in fabric handling.

BibTeX

@inproceedings{ral2022_variablefriction,
  title = {Variable-Friction-Based In-Hand Manipulation of Fabrics Applied to Unfolding Operations},
  author = {Haizhuang Jiang and Xin Jiang and Yanling Zhou and Haoyao Chen and Peng Li and Yunhui Liu},
  booktitle = {RA-L 2022},
  year = {2022}
}