Publication

Benchmarking bimanual cloth manipulation

Journal Article (2020)

Journal

IEEE Robotics and Automation Letters

Pages

1111-1118

Volume

5

Number

2

Doc link

http://doi.org/10.1109/LRA.2020.2965891

File

Download the digital copy of the doc pdf document

Abstract

Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics.

Categories

manipulators, service robots.

Author keywords

Performance Evaluation and Benchmarking, Cooperating Robots

Scientific reference

I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs Sol, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020.