Clothes handling based on recognition by strategic observation
Clothes handling based on recognition by strategic observation
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DOI：
10.1109/humanoids.2011.6100817
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Y. Kita;F. Kanehiro;T. Ueshiba;N. Kita
中科院分区：
文献类型：
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作者：
Y. Kita;F. Kanehiro;T. Ueshiba;N. Kita
本文提出了一种基于策略观察的装卸过程服装形状识别方法。当机器人处理衣服等变形较大的物体时，对机器人来说，识别不断变化的形状是很重要的。然而，形状的巨大变化和复杂的自遮挡使得识别变得非常困难。为了解决这些困难，我们提出了一种使用动作进行信息观察的模型驱动策略，并基于该策略开发了一些核心方法[1][2][3]。在本文中，我们将展示如何将这些核心方法用于处理一件衣服的实际任务。除了提出这一任务的序列外，还描述了实现该序列的基本功能。以机器人为例，实验结果证明了该策略的实用性。
In this paper, we propose a method to recognize clothing shape based on strategic observation during handling. When a robot handles largely deformed objects like clothes, it is important for the robot to recognize a constantly varying shape. Large variation in shape and complex self-occlusion, however, make recognition very difficult. To address these difficulties, we have proposed a model-driven strategy using actions for informative observation and have developed some core methods based on this strategy [1][2][3]. In this paper, we show how these core methods can be used for an actual task that involves handling an item of clothing. In addition to proposing a sequence for this task, basic functions for realizing the sequence are also described. Using a robot, the experimental results demonstrated practical utility of the proposed strategy.