5 papers · 1 filter
Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP
Wenbo Dong, Dipankar Bhattacharya Member, Kai Tang +5
Accurate fabric alignment is a critical step that must be performed before sewing. This paper presents a novel automated fabric alignment system. The system estimates the poses of…
RTFF: Random-to-Target Fabric Flattening Policy using Dual-Arm Manipulator
Kai Tang, Dipankar Bhattacharya, Hang Xu +3
Robotic fabric manipulation remains challenging due to fabric deformability and occlusions from wrinkles and the manipulator. This paper defines Random-to-Target Fabric Flattening…
Seam-to-Graph Reconstruction for Garment Configuration Alignment
Xuzhao Huang, Kai Tang, Fuyuki Tokuda +2
Seams encode rich structural information about garments but are frequently partially observable in robotic manipulation scenarios. To robustly leverage seam information, we propose…
Phase-Conditioned Imitation Learning with Autonomous Failure Recovery for Robust Deformable Object Manipulation
Dayuan Chen, Kai Tang, Yukuan Zhang +2
This paper presents a phase-conditioned, force-aware framework for robust deformable object manipulation. Standard imitation learning policies such as Action Chunking with Transfor…
Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator
Fuyuki Tokuda, Akira Seino, Akinari Kobayashi +2
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accur…