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Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…
Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
Numerous models have been developed in the literature to simulate the thermomechanical behavior of amorphous polymer at large strain. These models generally show a good agreement with experimental results when the material is submitted to…
Micro-mechanics of parachute fabrics under tensile loads is studied using in situ X-ray micro-tomography. Results are presented for two nylon textiles commonly used in parachute systems, MIL-C-7020H Type III and MIL-C-44378(GL) Type II.…
Data driven and learning based solutions for modeling dynamic garments have significantly advanced, especially in the context of digital humans. However, existing approaches often focus on modeling garments with respect to a fixed…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Mimicking realistic dynamics in 3D garment animations is a challenging task due to the complex nature of multi-layered garments and the variety of outer forces involved. Existing approaches mostly focus on single-layered garments driven by…
In this work we analyze and address a fundamental restriction that blocks the reliable application of codimensional yarn-level and shell models with thickness, to simulate real-world woven and knit fabrics. As discretizations refine toward…
The accurate representation of fine-detailed cloth wrinkles poses significant challenges in computer graphics. The inherently non-uniform structure of cloth wrinkles mandates the employment of intricate discretization strategies, which are…
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…
This work presents a shear elastoplasticity model for textile fabrics within the theoretical framework of anisotropic Kirchhoff-Love shells with bending of embedded fibers proposed by Duong et al. (2023). The plasticity model aims at…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
Many approaches to draping individual garments on human body models are realistic, fast, and yield outputs that are differentiable with respect to the body shape on which they are draped. However, they are either unable to handle…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…
The vertex model is widely used to describe the dynamics of epithelial tissues, because of its simplicity and versatility and the direct inclusion of biophysical parameters. Here, it is shown that quite generally, when cells modify their…
An approach to the mechanical behaviour of textile composites at the scale of their constituting fibres, using an implicit finite element simulation code, is proposed in this chapter. The approach is based on efficient methods and…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…