research-article

Robotic cloth manipulation for clothing assistance task using Dynamic Movement Primitives

Authors:

Nishanth Koganti,

Tomohiro ShibataAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 14, Pages 1 - 6

https://doi.org/10.1145/3132446.3134878

Published: 28 June 2017 Publication History

Abstract

The need of robotic clothing assistance in the field of assistive robotics is growing, as it is one of the most basic and essential assistance activities in daily life of elderly and disabled people. In this study we are investigating the applicability of using Dynamic Movement Primitives (DMP) as a task parameterization model for performing clothing assistance task. Robotic cloth manipulation task deals with putting a clothing article on both the arms. Robot trajectory varies significantly for various postures and also there can be various failure scenarios while doing cooperative manipulation with non-rigid and highly deformable clothing article. We have performed experiments on soft mannequin instead of human. Result shows that DMPs are able to generalize movement trajectory for modified posture.

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Cited By

Zhang YLiu FLiang XYip M(2024)Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611111(9931-9938)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611111
Galassi KWu BPerez JPalli GRenders J(2024)Attention-Based Cloth Manipulation from Model-free Topological Representation2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610241(18207-18213)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610241
Qiu YZhu JDella Santina CGienger MKober J(2024)Robotic Fabric Flattening with Wrinkle Direction DetectionExperimental Robotics10.1007/978-3-031-63596-0_30(339-350)Online publication date: 6-Aug-2024
https://doi.org/10.1007/978-3-031-63596-0_30
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Index Terms

Robotic cloth manipulation for clothing assistance task using Dynamic Movement Primitives
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory
      2. Motion path planning

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cover image ACM Other conferences

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IIT-Delhi: IIT-Delhi

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Publication History

Published: 28 June 2017

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AIR '17

AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

Zhang YLiu FLiang XYip M(2024)Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611111(9931-9938)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611111
Galassi KWu BPerez JPalli GRenders J(2024)Attention-Based Cloth Manipulation from Model-free Topological Representation2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610241(18207-18213)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610241
Qiu YZhu JDella Santina CGienger MKober J(2024)Robotic Fabric Flattening with Wrinkle Direction DetectionExperimental Robotics10.1007/978-3-031-63596-0_30(339-350)Online publication date: 6-Aug-2024
https://doi.org/10.1007/978-3-031-63596-0_30
Yamasaki KSakai YKaziwara TShibata T(2023)Active Object Recognition of Closely Hung Hangers with Cloth by Home Service Robotホームサービスロボットによる衣服が掛けられ密着して吊るされたハンガーの能動的認識Journal of the Robotics Society of Japan10.7210/jrsj.41.88141:10(881-884)Online publication date: 2023
https://doi.org/10.7210/jrsj.41.881
Saveriano MAbu-Dakka FKramberger APeternel L(2023)Dynamic movement primitives in robotics: A tutorial surveyThe International Journal of Robotics Research10.1177/0278364923120119642:13(1133-1184)Online publication date: 23-Sep-2023
https://doi.org/10.1177/02783649231201196
Blanco-Mulero DAlcan GAbu-Dakka FKyrki V(2023)QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS55552.2023.10342002(984-991)Online publication date: 1-Oct-2023
https://doi.org/10.1109/IROS55552.2023.10342002
He XDutta VMatsumaru T(2022)Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)10.1109/ROBIO55434.2022.10011851(1257-1262)Online publication date: 5-Dec-2022
https://doi.org/10.1109/ROBIO55434.2022.10011851
Salhotra GLiu IDominguez-Kuhne MSukhatme G(2022)Learning Deformable Object Manipulation From Expert DemonstrationsIEEE Robotics and Automation Letters10.1109/LRA.2022.31878437:4(8775-8782)Online publication date: Oct-2022
https://doi.org/10.1109/LRA.2022.3187843
Ginesi MMeli DRoberti ASansonetto NFiorini P(2021)Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential FunctionsJournal of Intelligent and Robotic Systems10.1007/s10846-021-01344-y101:4Online publication date: 1-Apr-2021
https://dl.acm.org/doi/10.1007/s10846-021-01344-y
Erickson ZGu YKemp C(2020)Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)10.1109/RO-MAN47096.2020.9223609(299-306)Online publication date: Aug-2020
https://doi.org/10.1109/RO-MAN47096.2020.9223609
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