This paper describes a method to pick up a folded cloth product by a single-armed robot. We focus on a problem on picking up a folded cloth, and organize tasks to attack it. Then, we propose methods of grasp position estimation composed of two stages: detection of the thickest folded hem and pose estimation of the cloth product. In addition, we attempt to search for appropriate grasping posture...

Realistic simulation and manipulation of virtual cloth based on energy minimization techniques require higher computations. A model realizing force as well as shape to manipulate the virtual cloth demands even more computational cost. Mesh resolution of cloth has a great effect on the computational cost of cloth simulation. Therefore, granularity of mesh must be chosen in a manner that represen...

Cloth modeling and simulation has gained significant momentum in recent years due to advances in computational hardware and software. Cloth plays an important role not only in daily life, but also in special scenarios such as firefighter’s cloth and space suits. There are special requirements such as protection capability of the human body and mobility after the firefighters or astronauts wear ...

This paper presents an approach for cloth-body and cloth-cloth collision detection in computer graphics simulations of clothing. It is an object-space based algorithm implemented in CUDA an OptiX ray-tracing engine on the GPU. The underlying idea behind this work is to speed up the solution of the collision detection problem by utilizing the excessive computational capacity of contemporary GPUs...