Strategy for unfolding a fabric piece by cooperative sensing of touch and vision

A hand/eye system for handling flexible materials is under development. Our concern is to increase the effectiveness of a cooperative sensing of touch and vision for handling flexible and limp materials. We consider that a cooperative sensing of touch and vision is more important when flexible or limp objects such as fabrics are handled. This paper presents a strategy of sensor-based manipulation for unfolding a fabric piece in a case of primitive fabric handling movements. Vision and tactile sensing are used for picking up the folded part.