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Gravity-Based Robotic Cloth Folding [chapter]

Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel
2010 Springer Tracts in Advanced Robotics  
We consider how the tedious chore of folding clothes can be performed by a robot.  ...  G-folds are easy to specify and are sufficiently rich to capture most common cloth folding procedures.  ...  part by the National Science Foundation (NSF) under grants IIS-0905344 and IIS-0904672, by the National Institute of Health (NIH) under grant R01-EB006435, and by Willow Garage by providing the PR-2 robot  ... 
doi:10.1007/978-3-642-17452-0_24 fatcat:xxgaqjerife23f5vnjwouiikza

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  
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.  ...  We describe experiments with a general purpose mobile robotic platform, the PR2, folding articles that require dragging and base motion in addition to folding.  ...  negative gravity vector does not point into the cloth.  ... 
doi:10.1007/978-3-319-00065-7_37 fatcat:wloihi4r75gpjnpvcxfocf36ku

Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic [chapter]

Yuji Yamakawa, Shouren Huang, Akio Namiki, Masatoshi Ishikawa
2019 Dynamic Modelling and Control of Robotic Interaction [Working Title]  
of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system.  ...  By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding  ...  folding of a cloth.  ... 
doi:10.5772/intechopen.82521 fatcat:zopbxhgppjd57jthbybs5teozi

A geometric approach to robotic laundry folding

Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, Pieter Abbeel
2011 The international journal of robotics research  
We present an algorithm which, given a 2D cloth polygon and a desired sequence of folds, outputs a motion plan for executing the corresponding manipulations, deemed g-folds, on a minimal number of robot  ...  We then devise a model-based optimization approach for visually inferring the class and pose of a spread-out or folded clothing article from a single image, such that the resulting polygon provides a parse  ...  In particular, we exploit the use of gravity by 250 The International Journal of Robotics Research 31(2) considering clothing articles which may be separated into at most two parts: one part which lies  ... 
doi:10.1177/0278364911430417 fatcat:t5vh2mebdbefbkcretbiz22lui

Folding Deformable Objects using Predictive Simulation and Trajectory Optimization [article]

Yinxiao Li and Yonghao Yue and Danfei Xu and Eitan Grinspun and Peter Allen
2015 arXiv   pre-print
Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment?  ...  Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously.  ...  Garment perception and its folding using a dual-arm robot. In Proc. IROS, Sept. 2014. [19] J. van den Berg, S. Miller, K. Goldberg, and P. Abbeel. Gravity-based robotic cloth folding.  ... 
arXiv:1512.06922v1 fatcat:c5zthouyxrhxvpyjzvtqiyhjle

Bimanual robotic cloth manipulation for laundry folding

C. Bersch, B. Pitzer, S. Kammel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our algorithm includes a novel fold detection and grasp generation strategy, which suggests grasp poses on cloth folds. Machine learning techniques are used to evaluate these grasp poses.  ...  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.  ...  [4] describe a system that folds clothing items that are already spread on a table using gravity-based folds.  ... 
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  
Our algorithm includes a novel fold detection and grasp generation strategy, which suggests grasp poses on cloth folds. Machine learning techniques are used to evaluate these grasp poses.  ...  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.  ...  [4] describe a system that folds clothing items that are already spread on a table using gravity-based folds.  ... 
doi:10.1109/iros.2011.6095109 dblp:conf/iros/BerschPK11 fatcat:fmiv5luzhnexdcisxcdl7der7i

Human Robot Collaboration for Folding Fabrics Based on Force/RGB-D Feedback [chapter]

Panagiotis N. Koustoumpardis, Konstantinos I. Chatzilygeroudis, Aris I. Synodinos, Nikos A. Aspragathos
2015 Advances in Intelligent Systems and Computing  
A hierarchical control system is developed for the co-manipulation task of folding sheets like fabrics/cloths.  ...  In this paper, the collaboration of a human and a robot for executing complicated handling tasks for folding non-rigid objects is investigated.  ...  This kind of objects can change their shape by twisting, buckling, folding and wrinkling due to gravity.  ... 
doi:10.1007/978-3-319-21290-6_24 fatcat:5d5rhsx55bchbpqymwi5epzc74

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  
tasks, such as folding.  ...  Abstract-We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot.  ...  The HMM operates in the disambiguation phase, where the robot executes a sequence of manipulations consisting of repeatedly holding up the clothing article by one gripper under the influence of gravity  ... 
doi:10.1109/icra.2011.5980327 dblp:conf/icra/Cusumano-TownerSMOA11 fatcat:imll7sr4f5hnhfr7lfji6r2sau

Recognising Known Configurations of Garments For Dual-Arm Robotic Flattening [article]

Li Duan, Gerardo Argon-Camarasa
2022 arXiv   pre-print
plans based on the recognised known configurations.  ...  Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states.  ...  We also thank the School of Computing Science for providing the Baxter robot for our experiments.  ... 
arXiv:2205.00225v1 fatcat:ryp4dbpsnjfcnkdnrgkyg7nxd4

REAL-TIME PATH PLANNING TRACING OF DEFORMABLE OBJECT BY ROBOT

Khairul Salleh Mohamed Sahari, Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu
2010 International Journal on Smart Sensing and Intelligent Systems  
Tracing in this paper context involves tracing the clothes edge, with the robot arm movement based on the calculated path and feedback from sensors.  ...  This paper proposes a unique realtime path-planning tracing method for clothes manipulation by robots.  ...  Kaneko et-al suggested a strategy to isolate one clothes from the washed pile by differentiating the colour of the clothes based on colour information of the image before the robot unfolds and fold the  ... 
doi:10.21307/ijssis-2017-406 fatcat:ocp2n55awrfbtdawghfdklckqm

Dynamic Manipulation of a Cloth by High-speed Robot System using High-speed Visual Feedback

Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa
2011 IFAC Proceedings Volumes  
Finally, experimental results of the dynamic folding of the cloth by the high-speed robot system are shown.  ...  As one example, we consider dynamic folding of a cloth by a highspeed robot system consisting of two high-speed multifingered hands mounted on two sliders and a high-speed vision system.  ...  In this paper, the deformation model of the cloth is described based on this result.  ... 
doi:10.3182/20110828-6-it-1002.00596 fatcat:uaobzyuiefc4je4c3sgabnswsm

Folding deformable objects using predictive simulation and trajectory optimization

Yinxiao Li, Yonghao Yue, Danfei Xu, Eitan Grinspun, Peter K. Allen
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment?  ...  Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously.  ...  Osawa et al. used a robot to fold a garment with a special purpose table that contains a plate that can bend and fold the clothes assisted by a dual-arm robot.  ... 
doi:10.1109/iros.2015.7354231 dblp:conf/iros/LiYXGA15 fatcat:i3y3sgdkovftjdbmf3emy2prpy

Model-Driven Feedforward Prediction for Manipulation of Deformable Objects

Yinxiao Li, Yan Wang, Yonghao Yue, Danfei Xu, Michael Case, Shih-Fu Chang, Eitan Grinspun, Peter K. Allen
2018 IEEE Transactions on Automation Science and Engineering  
One example is that the 3-D shape-based matching algorithm can be used for other objects, such as bottles, papers, and food.  ...  Extensive experimental results are shown for the above tasks using a variety of different clothings.  ...  Lopez for the help of the folding plan. They would also like to thank Nvidia Corporation and Intel Corporation for the hardware support.  ... 
doi:10.1109/tase.2017.2766228 fatcat:y4c4slg4u5dypfz7wpamfvigwi

Path planning for clothes climbing robots on deformable clothes surface

Yuanyuan Liu, Xinyu Wu, Dezhen Song, Ruiqing Fu, Duan Zheng, Yangsheng Xu
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Based on the deformable characteristic of the clothes, the tension force of clothes is analyzed and the model of tension degree is established.  ...  This paper proposes a novel path planning method for a robot to climb on the deformable clothes surface.  ...  The gripper clamps the clothes crease folded by the robot's gripper firmly and the tail adjusts its pose by the balance of the gravity. Fig. 2 shows the structure of Clothbot.  ... 
doi:10.1109/iros.2012.6385673 dblp:conf/iros/LiuWSFZX12 fatcat:oqn7pukxcjdxzhwi2ot4yx4emy
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