dc.contributor
Institut de Robòtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI
dc.contributor.author
Jiménez Schlegl, Pablo
dc.date.issued
2024-02-28
dc.identifier
Jimenez, P. Inside-out states of garments. 2024.
dc.identifier
https://intranet.iri.upc.edu/scidoc/2815
dc.identifier
https://hdl.handle.net/2117/424843
dc.description.abstract
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.
dc.description.abstract
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.
dc.description.abstract
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
dc.description.abstract
Preprint
dc.format
application/pdf
dc.relation
info:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE
dc.relation
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/
dc.relation
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/
dc.rights
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights
Attribution-NonCommercial-NoDerivatives 4.0 International
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
Deformable object manipulation
dc.subject
Robotic garment manipulation
dc.subject
Inside-out configurations
dc.subject
Cloth state representation
dc.subject
Classificació INSPEC::Automation::Robots
dc.title
Inside-out states of garments
dc.title
Technical report IRI-TR-24-01
dc.type
External research report
