ロボットと道具の協調による衣類の折り畳みシステム

概要

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The works of a home robot has the laundering. The purpose of this study is to find a means of folding of the clothes and store the clothes in a drawer by a home robot. Because the shape of cloth tends to change in various ways depending on the situation, it is difficult for robot hands to fold the clothes. In this paper, we propose a realistic folding system for the clothes by a robot and tools. The function of a tool is folding the clothes in half by inserting the clothes using two plates. This system can fold the clothes in a target position by a robot positions the clothes on the tool's table. A robot is not required complicated manipulation and it is possible that reliable fold various kinds of clothes. Then the clothes folded by this system has a thin fold, and don't has wrinkles. We studied the velocity of the rotating plate of a tool for folding in a target position. The effectiveness of the propose system is shown through experimental results.
公益社団法人精密工学会の論文
2004-06-05