Dual arm robot fabric wrapping operation using target lines

This paper proposes a fabric wrapping method for robots, provides a description method that uses such target lines to describe the wrapping state between a piece of fabric and an object, and describes an offhand path generation method based on that description. This target-line based description method can be used to generate wrapping instructions for curved and planar objects more easily than can be produced using conventional methods based on bend lines and hand paths. In our experiments, we show how a dual-arm robot can perform wrapping operations on cylinders using our target-line based methodology.