布地のハンドリングに関する研究　　洗濯物の展開変形作業計画

• 金子 学

• 柿倉 正義

書誌事項

タイトル別名

• Study on Handling Clothes. Task Planning of Deformation for Unfolding Laundry.
• ヌノジ ノ ハンドリング ニ カンスル ケンキュウ センタクモノ ノ テンカイ ヘンケイ サギョウ ケイカク

抄録

Study on Housekeeping Robot which puts away laundry is promoted in order to improve ability for handling a flexible object. This paper proposes the way of unfolding clothes and obtaining grasping points to generate unfolded state of clothes. There exists dynamical phenomenon that clothes is naturally unfolded by influence of gravity if it is hung up under clothes grasped at two points on its outline. Human skillfully deforms clothes by using this phenomenon as empirical knowledge and this is considered as a useful method to unfold clothes for a robot. At first, condition for determining grasping points to enable to unfold clothes is derived based on the phenomenon. Secondly, the task of deformation of clothes for unfolding including an action for restoring torsion on a sleeve of a shirt is described. Lastly, the validity of the proposed method is shown by experimental results.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 68 (675), 3381-3388, 2002

  一般社団法人 日本機械学会

キーワード

• Robot
• Image Processing
• Recognition
• Clothes
• Unfolding Clothes
• Task Planning

詳細情報

• CRID: 1390282681334765952
• NII論文ID: 130004234555
• NII論文ID: 110002378768
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.68.3381
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 6366264
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6366264
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/68/675/68_675_3381/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可