2022
DOI: 10.1109/lra.2022.3142732
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Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations

Abstract: Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the blanket or sheet that will almost always cover the person's body. We propose a method for targeted bedding manipulation over people lying supine in bed where we first learn a model of the cloth's dynamics. Then, we optimize over this model to uncover a given target limb using inf… Show more

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Cited by 13 publications
(6 citation statements)
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“…These are used in tasks such as knotting [17,35] or untangling [12,57]. Manipulation of 2D objects refers to items such as clothing and fabrics, as studied in recent work on fabric smoothing [4,15,18,27,29,40,48,59,61], which often measuring quality using coverage. A smooth fabric with high coverage may make it easier to later do folding, another canonical task explored in prior work [1,10,24,31].…”
Section: A Deformable Object Manipulationmentioning
confidence: 99%
“…These are used in tasks such as knotting [17,35] or untangling [12,57]. Manipulation of 2D objects refers to items such as clothing and fabrics, as studied in recent work on fabric smoothing [4,15,18,27,29,40,48,59,61], which often measuring quality using coverage. A smooth fabric with high coverage may make it easier to later do folding, another canonical task explored in prior work [1,10,24,31].…”
Section: A Deformable Object Manipulationmentioning
confidence: 99%
“…Several assistive robotic tasks involve manipulating deformable objects like cloth around the human body. Examples include dressing assistance with hospital gowns, jackets, scarfs [1], [2], [12]- [14]; bathing assistance with a towel [2], [15], picking and placing garments on hangers [16], [17], laundry folding [3], [4], [18]- [25], and bedding assistance [5], [6]. Prior work [26] has showed how a robot could predict if an end effector trajectory would succeed in dressing a hospital gown sleeve onto a person by leveraging force measurements at the end effector.…”
Section: Related Work a Deformable Cloth Manipulation For Robotic Ass...mentioning
confidence: 99%
“…R OBOTIC manipulation of highly deformable cloth presents a promising opportunity to assist people with many tasks, such as assisting an older adult with muscle atrophy or a physical disability to get dressed [1], bathing and hygiene assistance with a washcloth or towel [2], cleaning dishes with a dish towel, folding laundry [3], [4], or bed making [5], [6]. In each of these scenarios, it can be helpful for a robot to infer how cloth interacts with and applies forces to objects it makes contact with.…”
Section: Introductionmentioning
confidence: 99%
“…Finally, semantic area segmentation and domain adaptation were used to identify grasping points from a single shot image with the help of synthetic data [15]. Significant progress has been made on tasks such as folding, unfolding, and spreading by learning policies in a simulated environment and then transferring them into real world manipulators [8,16], or already performing all these tasks in simulation [17].…”
Section: A Cloth Manipulationmentioning
confidence: 99%