Non-rigid object trajectory generation for autonomous robot handling

Abstract

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. © 2011 Springer-Verlag.