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Marker Tracking for Indirect Positioning During Fabric Manipulation

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Book cover Information Technology Convergence

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 253))

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Abstract

We describe here a marker tracking algorithm for indirect positioning during planar fabric manipulation. Indirect positioning is a unique problem during manipulations of deformable objects. Improving the tracking of position by a robotic system contributes to the dexterous manipulation of deformable objects. To formulate this algorithm, we assessed the movement of a single robotic finger moving one manipulated point on a fabric to one positioned point or marker, to the desired point on a floor. To select an appropriate algorithm, we classified disturbances during the positioning of fabrics. To precisely detect the position of the marker during these disturbances, we applied the combination of a particle filter and a labeling processing to the algorithm. Experimental evidence showed that, due to its precision in detecting position, this algorithm was suitable for indirect positioning.

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Acknowledgments

This research was partially supported by The Furukawa Foundation for promotion of technical science.

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Authors and Affiliations

  1. Department of Robotics, Kinki University, 1 Takaya-Umenobe, Higashi-hiroshima, Hiroshima, Japan

    Mizuho Shibata

Authors
  1. Mizuho Shibata
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Correspondence to Mizuho Shibata .

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Editors and Affiliations

  1. Department of Computer Science and Engineering, Seoul University of Science & and Technology (SeoulTech), Seoul, Korea, Republic of (South Korea)

    James J. (Jong Hyuk) Park

  2. Dept. Information & Communication Engineering, Fukuoka Institute of Technology Fac. Information Engineering, Fukuoka, Japan

    Leonard Barolli

  3. Departament De Llenguatges I Sistemes Informàtics, Universitat Politècnica De Catalunya, Barcelona, Spain

    Fatos Xhafa

  4. Humanitas College, Kyung Hee University, Seoul, Korea, Republic of (South Korea)

    Hwa-Young Jeong

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Shibata, M. (2013). Marker Tracking for Indirect Positioning During Fabric Manipulation. In: Park, J., Barolli, L., Xhafa, F., Jeong, HY. (eds) Information Technology Convergence. Lecture Notes in Electrical Engineering, vol 253. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6996-0_93

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  • DOI: https://doi.org/10.1007/978-94-007-6996-0_93

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-6995-3

  • Online ISBN: 978-94-007-6996-0

  • eBook Packages: EngineeringEngineering (R0)

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