PR2机器人叠毛巾

以前机器人只能操作刚体,研究者们开发了一种检测非刚体边角的方法,使得PR2机器人可以叠毛巾。

整个叠毛巾的流程如下图,关键是通过视觉检测出毛巾的角,然后操作这些角。

参考:

  1. PR2 robot folding towels
  2. J. Maitin-Shepard, M. Cusumano-Towner, J. Lei and P. Abbeel. Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding. the proceedings of the International Conference on Robotics and Automation (ICRA), 2010.

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