Abstract
The automatic state recognition and handling of fabrics, which are typical deformable objects, is difficult to realize. The development of related technologies for fabric manipulation remains impractical. This research was inspired by the process by which humans handle fabrics using their fingers. We proposed an in-hand manipulation method for fabrics based on variable friction and verified its effectiveness by sliding a single sheet of fabric and unfolding using in-hand manipulation functions. Experimental results demonstrate that the in-hand manipulation functions proposed in this study have the potential to solve complex problems in fabric handling.
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