Configuration space of a textile rectangle
Given a rectangular piece of cloth on a planar surface, we aim to characterise its states based on the robot manipulations they would require. Considering the cloth as a set of n points in R2, we study its configuration space, Confn(R2). We derive a stratification of Conf4(R2) using that of Flag(3),...
| Autores: | , |
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| Tipo de recurso: | capítulo de libro |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/361222 |
| Acceso en línea: | https://hdl.handle.net/2117/361222 https://dx.doi.org/10.1007/978-3-030-84800-2_22 |
| Access Level: | acceso abierto |
| Palabra clave: | Automation Pattern classification Service robots Configuration space Deformable objects Cloth state Topological representation Stratification Classificació INSPEC::Automation Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | Given a rectangular piece of cloth on a planar surface, we aim to characterise its states based on the robot manipulations they would require. Considering the cloth as a set of n points in R2, we study its configuration space, Confn(R2). We derive a stratification of Conf4(R2) using that of Flag(3), and we present some techniques that can be used to determine the adjacencies of Confn(R2) and some group actions we can define on it. |
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