Static Stability of Robotic Fabric Strip Folding

Thumbnail Image

Access rights

openAccess

URL

Journal Title

Journal ISSN

Volume Title

A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)

Authors

Date

2020-10

Department

Department of Electrical Engineering and Automation

Major/Subject

Mcode

Degree programme

Language

en

Pages

8
2493-2500

Series

IEEE-ASME TRANSACTIONS ON MECHATRONICS, Volume 25, issue 5

Abstract

Planning accurate manipulation of deformable objects requires the ability to predict their state. Prediction is often complicated by a loss of stability that can result in the collapse of a deformable object. This article studies the stability of fabric strip folding performed by a robot. We show that a static instability exists in the folding process. This instability is detected in a physics-based simulation, and the position of the instability is experimentally verified for various fabric materials during robotic manipulation. Three state-of-the-art methods for folding are assessed in the presence of static instability. It is shown that one of the existing folding paths is suitable for the folding of materials with internal friction, such as fabrics. A folding path that utilizes dynamic motion exists for ideal elastic materials without internal friction. Our results show that instability needs to be considered during the planning phase in order to ensure accurate manipulation of deformable objects.

Description

Keywords

Clothing, Fabrics, Strips, Task analysis, Robots, Grasping, Visualization, Autonomous systems, path planning, stability analysis, Geometric Approach, Manipulation, Clothes, Model

Other note

DOI

10.1109/TMECH.2020.2980957

Citation

Petrík, V, Smutný, V & Kyrki, V 2020, ' Static Stability of Robotic Fabric Strip Folding ', IEEE-ASME Transactions on Mechatronics, vol. 25, no. 5, 9037109, pp. 2493-2500 . https://doi.org/10.1109/TMECH.2020.2980957

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-202011066344

Collections

[article-cris] Sähkötekniikan korkeakoulu / ELEC