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
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.
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