Compared with more rigid objects, clothing items are inherently difficult for robots to recognize and manipulate. We propose a method for detecting how cloth is folded, to facilitate choosing a manipulative action that corresponds to a garment’s shape and position. The proposed method involves classifying the edges and corners of a garment by distinguishing between edges formed by folds and the hem or ragged edge of the cloth. Identifying the type of edges in a corner helps to determinate how the object is folded. This bottom-up approach, together with an active perception system, allows us to select strategies for robotic manipulation. We corroborate the method using a two-armed robot to manipulate towels of different shapes, textures, and sizes.

中文翻译：

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双边缘分类器，可实现坚固的布料展开

与刚性较高的物体相比，服装固有地很难被机器人识别和操纵。我们提出了一种检测布料如何折叠的方法，以便于选择与服装的形状和位置相对应的操纵动作。所提出的方法包括通过区分由褶皱形成的边缘与衣服的下摆或衣衫edge边缘之间的区别来对服装的边缘和角落进行分类。识别角落中边缘的类型有助于确定对象的折叠方式。这种自下而上的方法，再加上主动的感知系统，使我们能够选择机器人操纵的策略。我们使用两臂机器人来验证该方法，以操纵不同形状，纹理和大小的毛巾。