Publication
Perception of cloth in assistive robotic manipulation tasks
Journal Article (2020)
Journal
Natural Computing
Pages
409-431
Volume
19
Number
2
Doc link
https://doi.org/10.1007/s11047-020-09784-5
File
Abstract
Assistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing assistance to disabled users. Due to the deformable nature of fabrics, this manipulation requires a strong perceptual feedback. Common perceptual skills that enable robots to complete their cloth manipulation tasks are reviewed here, mainly relying on vision, but also resorting to touch and force. The use of such basic skills is then examined in the context of the different cloth manipulation tasks, be them garment-only applications in the line of performing domestic chores, or involving physical contact with a human as in dressing assistance.
Categories
computer vision, object recognition, robot vision, service robots.
Author keywords
Robotic assistance Robotic cloth manipulation Perception of cloth
Scientific reference
P. Jiménez and C. Torras. Perception of cloth in assistive robotic manipulation tasks. Natural Computing, 19(2): 409-431, 2020.
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