相关论文: Robotic Fabric Flattening with Wrinkle Direction D…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
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…
Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…
Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production…
Deformable Object Manipulation (DOM) is of significant importance to both daily and industrial applications. Recent successes in differentiable physics simulators allow learning algorithms to train a policy with analytic gradients through…
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by…
This paper presents a novel learning-based clothing deformation method to generate rich and reasonable detailed deformations for garments worn by bodies of various shapes in various animations. In contrast to existing learning-based…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for motion estimation in video, can also provide an effective…
Due to the high dimensionality of object states, a garment flattening pipeline requires recognising the configurations of garments for a robot to produce/select manipulation plans to flatten garments. In this paper, we propose a…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
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…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a…
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
Robotic manipulation of cloth remains challenging for robotics due to the complex dynamics of the cloth, lack of a low-dimensional state representation, and self-occlusions. In contrast to previous model-based approaches that learn a…
Robotic fabric manipulation in garment production for sewing, cutting, and ironing requires reliable flattening and alignment, yet remains challenging due to fabric deformability, effectively infinite degrees of freedom, and frequent…