Related papers: Textile Taxonomy and Classification Using Pulling …
One of the big challenges of the industry today is how to produce quality products, one of which is in the non-woven industry. The improvement of the evaluation and quality control processes of non woven production has been widely developed…
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile…
Understanding of deformable object manipulations such as textiles is a challenge due to the complexity and high dimensionality of the problem. Particularly, the lack of a generic representation of semantic states (e.g., \textit{crumpled},…
While textiles have existed throughout much of human history as complex mechanical metamaterials, textile science has largely been overlooked by the physics community until recently. In this review, we consider the symmetry, topology, and…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing and cleaning to textiles and flexible manufacturing. Despite…
A textile structure is a periodic arrangement of threads in the thickened plane. A topological classification of textile structures is harder than for classical knots and links that are non-periodic and restricted to a bounded region. The…
Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned…
To represent motions from a mechanical point of view, this paper explores motion embedding using the motion taxonomy. With this taxonomy, manipulations can be described and represented as binary strings called motion codes. Motion codes…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states. Predicting those object states and updating manipulation planning is time-consuming and…
Textile sensors transform our everyday clothing into a means to track movement and bio-signals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints.…
One of the big challenges of the industry today is how to produce quality products, one of which is in the knit fabric industry. The improvement of the evaluation and quality control processes of non woven production has been widely…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Physical interaction with textiles, such as assistive dressing, relies on advanced dextreous capabilities. The underlying complexity in textile behavior when being pulled and stretched, is due to both the yarn material properties and the…
Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…