An inextensible model for the robotic manipulation of textiles
Franco Coltraro,Jaume Amorós,Maria Alberich-Carramiñana,Maria Alberich-Carramiñana,Carme Torras +4 more
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TLDR
A new isometric strain model is introduced for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans, which results in an accurate, when compared to the recorded dynamics of real textiles, description of cloth motion incorporating aerodynamic effects.About:
This article is published in Applied Mathematical Modelling.The article was published on 2022-01-01 and is currently open access. It has received 9 citations till now. The article focuses on the topics: Discretization & Polygon mesh.read more
Citations
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Journal ArticleDOI
Model Predictive Control for Dynamic Cloth Manipulation: Parameter Learning and Experimental Validation
TL;DR: In this paper , a model predictive control (MPC) strategy is proposed to directly control the configuration of certain points of a textile object by applying actions on other parts of the object through the use of a Model Predictive Control strategy, which also allows to foresee the behavior of indirectly controlled points.
Journal ArticleDOI
The dGLI Cloth Coordinates: A Topological Representation for Semantic Classification of Cloth States
Franco Coltraro,Josep Fontana,Jaume Amor'os,Maria Alberich-Carramiñana,Júlia Borràs Sol,Carme Torras +5 more
TL;DR: The dGLI Cloth Coordinates are introduced, a low-dimensional representation of the state of a rectangular piece of cloth that allows to distinguish key topological changes in a folding sequence, opening the door to efficient learning methods for cloth manipulation planning and control.
Proceedings Article
Mixtures of Controlled Gaussian Processes for Dynamical Modeling of Deformable Objects
TL;DR: This paper expands previous work on Controlled Gaussian Process Dynamical Models (CGPDM), a method that uses a non-linear projection of the state space onto a much smaller dimensional latent space, and learns the object dynamics in the latent space.
Journal ArticleDOI
A systematic automated grasping approach for automatic manipulation of fabric with soft robot grippers
TL;DR: In this paper , a new way to separate layer by layer pieces of fabric has been inspired by the rise of soft robotics and their applications in automation, where a single fabric piece is separated from cutting pile by the soft finger in four steps: making an arch by pressing, wiping deformation, grasping and separating, and placing.
Journal ArticleDOI
Deformable Surface Reconstruction via Riemannian Metric Preservation
TL;DR: In this paper , an approach to inferring continuous deformable surfaces from a sequence of images is presented, which is benchmarked against several techniques and achieves state-of-the-art performance without the need for offline training.
References
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TL;DR: This paper presents a meta-geometry of Surfaces: Isometrics Conformal Maps, which describes how the model derived from the Gauss Map changed over time to reflect the role of curvature in the model construction.
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Proceedings ArticleDOI
Large steps in cloth simulation
David Baraff,Andrew Witkin +1 more
TL;DR: A cloth simulation system that can stably take large time steps is described, which is significantly faster than previous accounts of cloth simulation systems in the literature.
Proceedings Article
Deformation Constraints in a Mass-Spring Model to Describe Rigid Cloth Behavior
TL;DR: A new method to adapt the physically-based model for animating cloth objects to the particularly stiff properties of textiles, inspired from dynamic inverse procedures is presented.