An Acquisition of Folding Ability of Cloth Products Using Chest Based on Observation of Teaching Demonstration of a Human Being

Yaqiang Mo, Takamitsu Matsubara, Kimitoshi Yamazaki
2019 Journal of the Robotics Society of Japan  
In this paper, we describe a folding ability acquisition of an item of clothes by a dual-arm robot. We focus on how to fold cloth products with placing it on a chest as a folding method that humans often do. This method has the following advantages: (1) As a robot folds cloth products using its body parts, it can finish the work in the space only near the body, while auxiliary tools such as a table is not needed. (2) Since a robot unfolds a cloth product vertically using hands and chest, and
more » ... s and chest, and then the work is progressed therefrom, it is relatively easy to recognize the shape of the cloth product. To let the robot acquire this folding method, we take "Teaching by Showing" approach. Using timeseries sensor data obtained by observing a human performer who folds a cloth product, we propose a unified method to obtain folding phases and folding trajectory for a dual-arm robot. We applied time-series data segmentation and reinforcement learning, and confirmed the effectiveness of the proposed method by means of experiments using an actual robot.
doi:10.7210/jrsj.37.523 fatcat:scpbmaxvvjh25oix5vheyktema