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
Authors
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Garcia Camacho, Irene
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Lippi, Martina
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Welle, Michael C.
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Yin, Hang
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Antanova, Rika
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Varava, Anastasiia
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Borràs Sol, Júlia
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Torras Genís, Carme
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Marino, Alessandro
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Alenyà Ribas, Guillem
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Kragic, Danica
Projects associated
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, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020.
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