2010 IEEE International Conference on Robotics and Automation :: Anchorage, Alaska, USA :: May 3 - 8, 2010

ICRA'10 Paper Abstract


Paper WeA5.4

Maitin-Shepard, Jeremy (University of California, Berkeley), Lei, Jinna (University of California, Berkeley), Cusumano-Towner, Marco (University of California, Berkeley), Abbeel, Pieter (UC Berkeley)

Cloth Grasp Point Detection Based on Multiple-View Geometric Cues with Application to Robotic Towel Folding

Scheduled for presentation during the Regular Sessions "Models for Grasping" (WeA5), Wednesday, May 5, 2010, 09:15−09:30, Egan Center Lower Level Room 13/14

2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Grasping, Domestic Robots, Personal Robots


We present a novel vision-based grasp point detection algorithm that can reliably detect the corners of a piece of cloth, using only geometric cues that are robust to variation in texture. Furthermore, we demonstrate the effectiveness of our algorithm in the context of folding a towel using a general-purpose two-armed mobile robotic platform without the use of specialized end-effectors or tools. The robot begins by picking up a randomly dropped towel from a table, goes through a sequence of vision-based re-grasps and manipulations---partially in the air, partially on the table---and finally stacks the folded towel in a target location. The reliability and robustness of our algorithm enables for the first time a robot with general purpose manipulators to reliably and fully-autonomously fold previously unseen towels, demonstrating success on all 50 out of 50 single-towel trials as well as on a pile of 5 towels.



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