Publication

Configuration space of a textile rectangle

Conference Article

Conference

Trobada GEOMVAP - Geometria de Varietats i Aplicacions (GEOMVAP)

Edition

2019

Pages

133-137

Doc link

https://doi.org/10.1007/978-3-030-84800-2_22

File

Download the digital copy of the doc pdf document

Abstract

Given a rectangular piece of cloth on a planar surface, we aim to characterise its states based on the robot manipulations they would require. Considering the cloth as a set of n points in R2, we study its configuration space, Confn(R2). We derive a stratification of Conf4(R2) using that of Flag(3), and we present some techniques that can be used to determine the adjacencies of Confn(R2) and some group actions we can define on it.

Categories

automation, pattern classification, service robots.

Author keywords

Configuration space, Deformable objects, Cloth state, Topological representation, Stratification

Scientific reference

F. Strazzeri and C. Torras. Configuration space of a textile rectangle, 2019 Trobada GEOMVAP - Geometria de Varietats i Aplicacions , 2019, Cardona, in Extended Abstracts GEOMVAP 2019 - Geometry, Topology, Algebra, and Applications; Women in Geometry and Topology, Vol 15 of Trends in Mathematics - Research Perspectives CRM Barcelona, pp. 133-137, 2021, Springer-Birkhäuser, Cham.