CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts
Fuyuki Tokuda,Akira Seino,Akinari Kobayashi,Kazuhiro Kosuge,Fuyuki Tokuda,Akira Seino,Akinari Kobayashi,Kazuhiro Kosuge
This paper proposes CNN-based visual servoing for simultaneous positioning and flattening of a soft fabric part placed on a table by a dual manipulator system. We propose a network for multimodal data processing of grayscale images captured by a camera and force/torque applied to force sensors. The training dataset is collected by moving the real manipulators, which enables the network to map the ...
