Fabric grasping using wrinkles
Bachelor/Master-Thesis at group TAMS
Thin objects such as fabrics are notoriously hard to grasp for robotic systems. However, often, fabrics do not lie flat on a table and some wrinkles are provoked. The goal of this thesis is to detect such wrinkles on the surface and find adequate grasps for the robot to pick up fabric samples.
Thesis Goals:
- Wrinkle detection on a flat surface
- Deciding which wrinkle is most promising
- Proposing grasps to pick the fabric
Requirements
- Interest in working with a real robot arm and gripper
- Basic knowledge of robot control
- Basic knowledge of computer vision or point cloud processing
