Universitat Politècnica de Catalunya
Technical report IRI-TR-24-01
Institut de Robòtica i Informàtica Industrial
Universitat Politècnica de Catalunya. ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI
2024-02-28
Cloth items such as garments can be potentially in infinite different configurations, due to their deformability. For the practical purposes of manipulation, however, it is possible to discretize the space of deformations into a set of equivalent states. This is pursued in the present work, where the complex problem of recovering the canonical configuration of partially (or completely) reversed garments is addressed. Without claiming to solve the hard perceptual and manipulative challenges of this type of task –which are also thoroughly described–, this work should rather be viewed as a pioneering effort to formalize the high-level strategies that aim at solving this canonical configuration-recovering task.
Cloth items such as garments can be potentially in infinite different configurations, due to their deformability. For the practical purposes of manipulation, however, it is possible to discretize the space of deformations into a set of equivalent states. This is pursued in the present work, where the complex problem of recovering the canonical configuration of partially (or completely) reversed garments is addressed. Without claiming to solve the hard perceptual and manipulative challenges of this type of task –which are also thoroughly described–, this work should rather be viewed as a pioneering effort to formalize the high-level strategies that aim at solving this canonical configuration-recovering task.
This work has been partially funded by the European Union Horizon 2020 Programme under grant agreement no. 741930 (CLOTHILDE), Project ROB-IN PLEC2021-007859 funded by MCIN/ AEI /10.13039/501100011033 and by the ”European Union NextGenerationEU/PRTR” and Project CHLOE-Graph PID2020-118649RB-I00 funded by MCIN/AEI /10.13039/501100011033
Preprint
External research report
English
Àrees temàtiques de la UPC::Informàtica::Robòtica; Deformable object manipulation; Robotic garment manipulation; Inside-out configurations; Cloth state representation; Classificació INSPEC::Automation::Robots
IRI-TR-24-01
info:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PLEC2021-007859/ES/ROB-IN: Robots para la asistencia continua y personalizada capaces de explicar-se a si mismos/
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-118649RB-I00/ES/AGARRE, REPRESENTACION Y PLANIFICACION DE ACCIONES CON OBJETOS TIPO TELA/
http://creativecommons.org/licenses/by-nc-nd/4.0/
Open Access
Attribution-NonCommercial-NoDerivatives 4.0 International
E-prints [72986]
