TY - GEN
T1 - Non-rigid object trajectory generation for autonomous robot handling
AU - Liu, Honghai
AU - Lin, Hua
PY - 2011
Y1 - 2011
N2 - It is evident that there is no feasible solution to non-rigid object manipulation using robots. This paper proposed a two-stage strategy for planning of garment handling systems, i.e., generating trajectory of non-rigid objects and robot manipulation planning. The paper is focused on the former of presenting a generic approach to trajectory generation. A graph representation is first adapted based on garment folding creases, representing the trajectory position and a clothes handling sequence of each clothes partition, then configuration transformations are employed to form the continuous folding process. Finally the handling sequence is calculated based on the analysis of the adjacency matrix of the graph description of the garment. The proposed approach is evaluated on generating trajectory for the handling procedure of a female shirt in this paper.
AB - It is evident that there is no feasible solution to non-rigid object manipulation using robots. This paper proposed a two-stage strategy for planning of garment handling systems, i.e., generating trajectory of non-rigid objects and robot manipulation planning. The paper is focused on the former of presenting a generic approach to trajectory generation. A graph representation is first adapted based on garment folding creases, representing the trajectory position and a clothes handling sequence of each clothes partition, then configuration transformations are employed to form the continuous folding process. Finally the handling sequence is calculated based on the analysis of the adjacency matrix of the graph description of the garment. The proposed approach is evaluated on generating trajectory for the handling procedure of a female shirt in this paper.
UR - https://www.scopus.com/pages/publications/84855413116
U2 - 10.1007/978-3-642-25486-4_48
DO - 10.1007/978-3-642-25486-4_48
M3 - 会议稿件
AN - SCOPUS:84855413116
SN - 9783642254857
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 478
EP - 485
BT - Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings
T2 - 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011
Y2 - 6 December 2011 through 8 December 2011
ER -