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  
Fig. 1 : The PR2 with a pair of pants in a crumpled initial configuration. Abstract-We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot. We propose a hidden Markov model (HMM) for estimating the identity of the article and tracking the article's configuration throughout a specific sequence of manipulations and observations. At the end of this sequence, the article's configuration is known, though not
more » ... rily desired. The estimated identity and configuration of the article are then used to plan a second sequence of manipulations that brings the article into the desired configuration. We propose a relaxation of a strainlimiting finite element model for cloth simulation that can be solved via convex optimization; this serves as the basis of the transition and observation models of the HMM. The observation model uses simple perceptual cues consisting of the height of the article when held by a single gripper and the silhouette of the article when held by two grippers. 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 tasks, such as folding.
doi:10.1109/icra.2011.5980327 dblp:conf/icra/Cusumano-TownerSMOA11 fatcat:imll7sr4f5hnhfr7lfji6r2sau