Virtual rope theory for fabric manipulation

Shibata, Masaaki; Ota, Tsuyoshi; Hirai, Shinichi

doi:10.1109/isam.2009.5376934

Cited by 3 publications

(1 citation statement)

References 20 publications

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“…Interestingly, rope manipulation theory extends to other areas such as fabric manipulation, as demonstrated by Shibata et al [23] where they approximate the folds in a cloth with ropes of similar build. Both Yamakawa et al [25] and Vinh et al [24] deal with the tying of rope knots, which is also similar to our work of untying knots but avoids the difficulty of inferring the initial rope configuration, and identifying manipulation points.…”

Section: Related Workmentioning

confidence: 97%

Tangled: Learning to untangle ropes with RGB-D perception

Lui

Saxena

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper, we address the problem of manipulating deformable objects such as ropes. Starting with an RGB-D view of a tangled rope, our goal is to infer its knot structure and then choose appropriate manipulation actions that result in the rope getting untangled. We design appropriate features and present an inference algorithm based on particle filters to infer the rope's structure. Our learning algorithm is based on max-margin learning. We then choose an appropriate manipulation action based on the current knot structure and other properties such as slack in the rope. We then repeatedly perform perception and manipulation until the rope is untangled. We evaluate our algorithm extensively on a dataset having five different types of ropes and 10 different types of knots. We then perform robotic experiments, in which our bimanual manipulator (PR2) untangles ropes successfully 76.9% of the time.

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Section: Related Workmentioning

confidence: 97%

Tangled: Learning to untangle ropes with RGB-D perception

Lui

Saxena

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Fabric manipulation utilizing contacts with the environment

Shibata

Hirai

2012

2012 IEEE International Conference on Automation Science and Engineering (CASE)

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Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion

Shibata¹,

Ohta²,

Hirai³

2010

ICAM

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This paper describes an unfolding motion of fabric in air using pinching slip motion. During the pinching slip motion, the weight of the fabric generates relative movement between the moving fingertips and the fabric. The moving fingertips can hook into the hem of the fabric during the unfolding motion if the appropriate shaped fingertips and the grasping force are selected. In this paper, we simulate the pressure distribution of moving fingertips during the unfolding. We make a model of the contact between a fingertip and the hem of fabric based on fluid dynamics; the contact is considered as the collision between fluid and a block.

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Virtual rope theory for fabric manipulation

Cited by 3 publications

References 20 publications

Tangled: Learning to untangle ropes with RGB-D perception

Tangled: Learning to untangle ropes with RGB-D perception

Fabric manipulation utilizing contacts with the environment

Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion

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