| Budget Amount *help |
¥49,530,000 (Direct Cost: ¥38,100,000、Indirect Cost: ¥11,430,000)
Fiscal Year 2013: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
Fiscal Year 2012: ¥9,620,000 (Direct Cost: ¥7,400,000、Indirect Cost: ¥2,220,000)
Fiscal Year 2011: ¥11,960,000 (Direct Cost: ¥9,200,000、Indirect Cost: ¥2,760,000)
Fiscal Year 2010: ¥18,590,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥4,290,000)
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| Outline of Final Research Achievements |
It is becoming increasingly important for robots to autonomously handle daily necessities, such as clothes folding. In this project, we have studied methods for robustly handling a clothing item by densely linking handling actions and visual recognition via a deformable model of the item. As a practical task, folding an item of clothing from an arbitrary shape into a fixed form was considered. We treat“recognition of clothing state”as a turning point in the total process. While the clothing state is unknown, actions which reshape the item so as to produce more informative observations are proactively used. Once the state of the item becomes known, the desirable clothing shape is positively led and traced by iterating handling actions and deformable-model based visual recognition. Experimental results using a humanoid system showed a good prospective of the proposed strategy.
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