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Determining Where to Grasp Cloth Using Depth Information
Arnau Ramisa, Guillem Alenya, Francesc Moreno-Noguer, Carme Torras
199 - 207
10.3233/978-1-60750-842-7-199
Frontiers in Artificial Intelligence and Applications
Volume 232: Artificial Intelligence Research and Development
Abstract

In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, we propose choosing as grasping points those that maximize a new measure of wrinkledness, computed from the distribution of normal directions over local neighborhoods. Real grasping experiments using a robotic arm are performed, showing that the proposed measure leads to promising results.

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