Publication

Standardization of cloth objects and its relevance in robotic manipulation

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2024

Pages

8298-8304

Doc link

https://doi.org/10.1109/ICRA57147.2024.10610630

File

Download the digital copy of the doc pdf document

Abstract

The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is evident in the realm of cloth manipulation, accurately categorising and comprehending them in real-world applications remains elusive. This study sets out to address two primary objectives: (1) to provide a framework suitable for robotics applications to characterise cloth objects, and (2) to study how these properties influence robotic manipulation tasks. Our preliminary results validate the framework’s ability to characterise cloth properties and compare cloth sets, and reveal the influence that different properties have on the outcome of five manipulation primitives. We believe that, in general, results on the manipulation of clothes should be reported along with a better description of the garments used in the evaluation. This paper proposes a set of these measures.

Categories

artificial intelligence, pattern classification, robots.

Scientific reference

I. Garcia-Camacho, L. Alberta, M.C. Welle, G. Alenyà, D. Kragic and J. Borràs. Standardization of cloth objects and its relevance in robotic manipulation, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 8298-8304.