This paper proposes a motion-planning method for a wrapping-with-fabric task. To wrap, robots require not only offhand paths (which represent the movement of a grasping point on fabric) but also actual robot motion. When a robot handles fabric, it must consider the range of motion and collisions. To overcome such limitations, the robot must pass fabric inter- and intra-hand. The proposition is based on the reliability of its movements. The method may be used to plan a combination of inter- and intra-hand passing motions to generate the basic movements for wrapping along an offhand path. Experiments show how, by using the proposed planning method, a dual-arm robot can wrap an L-shaped pipe.

Humanoid robots have discrepancies between the postures simulated on models and those of actual humanoid bodies. To correct this problem, this paper proposes a method in which a robot observes its own posture in a mirror. This method does not need an additional time-consuming setup, such as calibration of external cameras. We attach a reference point to a known position on the robot body. By observing markers and the reference point in the same view, we can estimate the position of the markers accurately based on the geometric relationship between the mirror, an object, and its mirror reflection. We evaluate the proposed method by experiments of measuring and correcting the posture of an actual robot body to attain the target posture.