Master Thesis

Robotic manipulation skills for picking and unfolding garments

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  • Started: 12/02/2019
  • Finished: 14/10/2019



The fine manipulation of garments requires complex skills. In the context of this Master thesis, the TIAGo robot will be used to assess the validity and precision of hand-eye transformations for the fine picking of garments, and new dynamic motions will be created to facilitate the unfolding of folded garments lying on a table.


The work is under the scope of the following projects:

  • CLOTHILDE: Cloth manipulation learning from demonstration (web)
  • HuMoUR: Markerless 3D human motion understanding for adaptive robot behavior (web)