Publication

An inextensible model for the robotic manipulation of textiles

Conference Article

Conference

Congreso de ecuaciones diferenciales y aplicaciones XXVII (CEDYA XXVII)

Edition

2022

Pages

87-87

Doc link

https://cedya2022.es/uploads/docs/--Abstracts_CEDYA2022_(1).pdf

File

Download the digital copy of the doc pdf document

Abstract

We introduce a new cloth model which models the dynamics of textiles as inextensible surfaces. This assumption challenges most models in literature where elasticity is allowed, sometimes by necessity (Textile Engineering) or in the pursuit of spectacularity (Computer Graphics). The inextensibility assumption is shown to be realistic by comparing simulations to experimental data, finding that the difference between the simulated and the real position of each point in garments is lower than 1cm on average.

Categories

nonlinear programming.

Author keywords

cloth simulation, inextensible, FEM, experimental validation, active-set method

Scientific reference

F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles, 2022 Congreso de ecuaciones diferenciales y aplicaciones XXVII, 2022, Zaragoza, Spain, pp. 87-87.