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- Publisher Website: 10.1109/ICRA48891.2023.10160635
- Scopus: eid_2-s2.0-85168708150
- WOS: WOS:001036713000034
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Conference Paper: CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts
Title | CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts |
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Authors | |
Issue Date | 29-May-2023 |
Abstract | This paper proposes CNN-based visual servoing for simultaneous positioning and flattening of a soft fabric part placed on a table by a dual manipulator system. We propose a network for multimodal data processing of grayscale images captured by a camera and force/torque applied to force sensors. The training dataset is collected by moving the real manipulators, which enables the network to map the captured images and force/torque to the manipulator's motion in Cartesian space. We apply structured lighting to emphasize the features of the surface of the fabric part since the surface shape of the non-textured fabric part is difficult to recognize by a single grayscale image. Through experiments, we show that the fabric part with unseen wrinkles can be positioned and flattened by the proposed visual servoing scheme. |
Persistent Identifier | http://hdl.handle.net/10722/333842 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Tokuda, Fuyuki | - |
dc.contributor.author | Seino, Akira | - |
dc.contributor.author | Kobayashi, Akinari | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2023-10-06T08:39:32Z | - |
dc.date.available | 2023-10-06T08:39:32Z | - |
dc.date.issued | 2023-05-29 | - |
dc.identifier.uri | http://hdl.handle.net/10722/333842 | - |
dc.description.abstract | <p>This paper proposes CNN-based visual servoing for simultaneous positioning and flattening of a soft fabric part placed on a table by a dual manipulator system. We propose a network for multimodal data processing of grayscale images captured by a camera and force/torque applied to force sensors. The training dataset is collected by moving the real manipulators, which enables the network to map the captured images and force/torque to the manipulator's motion in Cartesian space. We apply structured lighting to emphasize the features of the surface of the fabric part since the surface shape of the non-textured fabric part is difficult to recognize by a single grayscale image. Through experiments, we show that the fabric part with unseen wrinkles can be positioned and flattened by the proposed visual servoing scheme.<br></p> | - |
dc.language | eng | - |
dc.relation.ispartof | 2023 IEEE International Conference on Robotics and Automation (ICRA2023) (29/05/2023-02/06/2023, London) | - |
dc.title | CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts | - |
dc.type | Conference_Paper | - |
dc.identifier.doi | 10.1109/ICRA48891.2023.10160635 | - |
dc.identifier.scopus | eid_2-s2.0-85168708150 | - |
dc.identifier.volume | 2023-May | - |
dc.identifier.spage | 748 | - |
dc.identifier.epage | 754 | - |
dc.identifier.isi | WOS:001036713000034 | - |