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Bringing clothing into desired configurations with limited perception

Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James F. O'Brien, Pieter Abbeel
2011 2011 IEEE International Conference on Robotics and Automation  
Abstract-We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot.  ...  The model accurately estimates the identity and configuration of clothing articles, enabling our procedure to autonomously bring a variety of articles into desired configurations that are useful for other  ...  bring it into a desired configuration.  ... 
doi:10.1109/icra.2011.5980327 dblp:conf/icra/Cusumano-TownerSMOA11 fatcat:imll7sr4f5hnhfr7lfji6r2sau

Bimanual robotic cloth manipulation for laundry folding

C. Bersch, B. Pitzer, S. Kammel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The goal of this grasp sequence is to bring the T-shirt into a configuration from which the robot can fold it. In several experiments, we demonstrate the performance of our approach.  ...  In this paper, we present a system that is capable of fully autonomously transforming a clothing item from a random crumpled configuration into a folded state.  ...  into a desired configuration.  ... 
doi:10.1109/iros.2011.6048873 fatcat:z6atyyxarne25c6nslaesf4uxi

Bimanual robotic cloth manipulation for laundry folding

Christian Bersch, Benjamin Pitzer, Soren Kammel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The goal of this grasp sequence is to bring the T-shirt into a configuration from which the robot can fold it. In several experiments, we demonstrate the performance of our approach.  ...  In this paper, we present a system that is capable of fully autonomously transforming a clothing item from a random crumpled configuration into a folded state.  ...  into a desired configuration.  ... 
doi:10.1109/iros.2011.6095109 dblp:conf/iros/BerschPK11 fatcat:fmiv5luzhnexdcisxcdl7der7i

Window Display Targeting Adolescent Purchasers: Users' merchandising perceptual response

Kanokwan Somoon, Nopadon Sahachaisaree
2018 Journal of ASIAN Behavioural Studies  
Research found that 14 factors in the design affected to perception. The study perception indicates that purchasing desire and attraction had more relation.  ...  It investigates the effects of design elements on the customers perceptual responding to configurations.  ...  Displays with spotted light focusing on the product and warm color could bring about arousal, the interest in merchandize, and its attractiveness.  ... 
doi:10.21834/jabs.v3i7.271 fatcat:df6vwvbu2zhurjrfrbzbtx56oy

Design Elements and Users' Perceptual Response: A Case of Window Display Design for Adolescent Merchandising

Kanokwan Somoon, Nopadon Sahachaisaree
2012 Procedia - Social and Behavioral Sciences  
Research found that 14 factors in the design affected to perception. The study perception indicates that purchasing desire and attraction had more relation.  ...  It investigates the effects of design elements on the customers perceptual responding to configurations.  ...  Displays with spotted light focusing on the product and warm color could bring about arousal, the interest in merchandize, and its attractiveness.  ... 
doi:10.1016/j.sbspro.2012.08.071 fatcat:ugawkhegrvci7oty6utvuhlccy

Autonomous active recognition and unfolding of clothes using random decision forests and probabilistic planning

Andreas Doumanoglou, Andreas Kargakos, Tae-Kyun Kim, Sotiris Malassiotis
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
The problem consists of grasping an article from a random point, recognizing it and then bringing it into an unfolded state.  ...  Both methods are implemented into a POMDP framework allowing the robot to interact optimally with the garments, taking into account uncertainty in the recognition and point estimation process.  ...  After putting the garment on a table, they plan a sequence of grasps in order to bring it to the desired unfolded configuration.  ... 
doi:10.1109/icra.2014.6906974 dblp:conf/icra/DoumanoglouKKM14 fatcat:ex3z7xqdzzehzj72sirbw6vjui

Perception for the manipulation of socks

Ping Chuan Wang, Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Finally, we illustrate our approach with an implementation on the Willow Garage PR2-a general purpose robotic platform.  ...  We consider the perceptual challenges inherent in the robotic manipulation of previously unseen socks, with the end goal of manipulation by a household robot for laundry.  ...  In this work, we examine the perceptual aspects of one particular application: bringing scattered, arbitrarily configured socks into organized pairs.  ... 
doi:10.1109/iros.2011.6095013 dblp:conf/iros/WangMFDA11 fatcat:hvorcpxkujc3lp6bv2hey3ptj4

Learning Keypoints from Synthetic Data for Robotic Cloth Folding [article]

Thomas Lips, Victor-Louis De Gusseme, Francis wyffels
2022 arXiv   pre-print
However, for cloth folding, it suffices to know the position of a few semantic keypoints.  ...  Robotic cloth manipulation is challenging due to its deformability, which makes determining its full state infeasible.  ...  ACKNOWLEDGMENT The authors wish to thank the members of the Keypoints Gang, in particular Rembert Daems and Peter De Roovere, for sharing many insights into Computer Vision and academic research in general  ... 
arXiv:2205.06714v1 fatcat:5xo6wirqpnf3xaac6fvgcyikqu

Perception for the manipulation of socks

Ping Chuan Wang, S. Miller, M. Fritz, T. Darrell, P. Abbeel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Finally, we illustrate our approach with an implementation on the Willow Garage PR2-a general purpose robotic platform.  ...  We consider the perceptual challenges inherent in the robotic manipulation of previously unseen socks, with the end goal of manipulation by a household robot for laundry.  ...  In this work, we examine the perceptual aspects of one particular application: bringing scattered, arbitrarily configured socks into organized pairs.  ... 
doi:10.1109/iros.2011.6048705 fatcat:bb3qhnpcxbbw5o4aus5mqtz37q

A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes [chapter]

Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel
2013 Springer Tracts in Advanced Robotics  
Motion planning for robotic manipulation of clothing is a challenging problem as clothing articles have high-dimensional configuration spaces and are computationally expensive to simulate.  ...  We present an algorithm for robotic cloth folding that, given a sequence of desired folds, outputs a motion plan consisting of a sequence of primitives for a robot to fold the cloth.  ...  Relevant work in cloth folding includes dynamic towel folding [1] , cloth perception [21] , and strategies to bring the cloth into a spread-out configuration where folds can be applied [20, 10, 6] .  ... 
doi:10.1007/978-3-319-00065-7_37 fatcat:wloihi4r75gpjnpvcxfocf36ku

Fashion and Ergonomic Design: Aspects that Influence the Perception of Clothing Usability

Érica P. das Neves, Aline C. Brigatto, Luis C. Paschoarelli
2015 Procedia Manufacturing  
The relevant issues about clothing have been increasing in recent times.  ...  Regarding the fashion context, the clothing product provides to the emotional level channels of signification and subjective identification.  ...  Consequently, the industry had to be opened to the perceptions and desires of a society increasingly focused on the present, on the new and on the possibilities of identity expression.  ... 
doi:10.1016/j.promfg.2015.07.769 fatcat:d7jcgdpthfhvfkd2udhcsczbjy

Modeling, learning, perception, and control methods for deformable object manipulation

Hang Yin, Anastasia Varava, Danica Kragic
2021 Science Robotics  
Recent advances in data-driven approaches, together with classical control and planning, can provide viable solutions to these open challenges.  ...  In addition, with the development of better simulation environments, we can generate and study scenarios that allow for benchmarking of various approaches and gain better understanding of what theoretical  ...  Works that focus on planning point-to-point movement actions to bring objects to a desired state include flipping a pizza (79), folding a cloth (77), or manipulating elastic rings (21) .  ... 
doi:10.1126/scirobotics.abd8803 pmid:34043538 fatcat:3q54vpiprrcsnpffmbduj3fjrm

Interaction skills for a coat-check robot: Identifying and handling the boundary components of clothes

Lukas Twardon, Helge Ritter
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We demonstrate the effectiveness of the approach in interactive perception and regrasping experiments with a dual arm and two attached anthropomorphic hands.  ...  As a major generic subtask, we consider the identification and exploitation of boundary components during clothes manipulation, combining RGBD vision with uni-and bi-manual handling through a robot.  ...  The robot picks up the cap and uses the arm and two fingers to bring it into a desirable position for visual observation. 3) Experimental procedure: We conducted twelve experimental runs.  ... 
doi:10.1109/icra.2015.7139710 dblp:conf/icra/TwardonR15 fatcat:e6kyrgzycjcnbbnidbjh3mvk7i

Challenges and Outlook in Robotic Manipulation of Deformable Objects [article]

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan (+1 others)
2021 arXiv   pre-print
The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare sectors.  ...  Although cloth folding has been tackled in a few previous research [69] - [72] , it remains largely a laboratory product (limited to structured environments, certain types of the clothes, etc).  ...  A promising direction to deal with occlusion and noise is using active/interactive perception.  ... 
arXiv:2105.01767v2 fatcat:sap4adixnzf77gzsiy3q5tq5ni

Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics [article]

Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba (+1 others)
2020 arXiv   pre-print
Given a single demonstration of a new task from an initial fabric configuration, the learned correspondences can be used to compute geometrically equivalent actions in a new fabric configuration.  ...  Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics.  ...  This state estimation is then used to define geometric controllers which bring the fabric into some desired configuration.  ... 
arXiv:2003.12698v2 fatcat:ftdd3zxw5vektkcrb5q7zhxi7a
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