Perception of cloth in assistive robotic manipulation tasks

The final publication is available at link.springer.com

Detalles Bibliográficos
Autores: Jiménez Schlegl, Pablo|||0000-0003-3627-4938, Torras, Carme|||0000-0002-2933-398X
Tipo de recurso: artículo
Fecha de publicación:2020
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:2117/342252
Acceso en línea:https://hdl.handle.net/2117/342252
https://dx.doi.org/10.1007/s11047-020-09784-5
Access Level:acceso abierto
Palabra clave:Computer vision
Object recognition
Robot vision
Service robots
Robotic assistance
Robotic cloth manipulation
Perception of cloth
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
id ES_bb4b05bb2eda269784f2df2aa4120f28
oai_identifier_str oai:upcommons.upc.edu:2117/342252
network_acronym_str ES
network_name_str España
repository_id_str
spelling Perception of cloth in assistive robotic manipulation tasksJiménez Schlegl, Pablo|||0000-0003-3627-4938Torras, Carme|||0000-0002-2933-398XComputer visionObject recognitionRobot visionService robotsRobotic assistanceRobotic cloth manipulationPerception of clothClassificació INSPEC::Pattern recognition::Computer visionÀrees temàtiques de la UPC::Informàtica::RobòticaThe final publication is available at link.springer.comAssistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing assistance to disabled users. Due to the deformable nature of fabrics, this manipulation requires a strong perceptual feedback. Common perceptual skills that enable robots to complete their cloth manipulation tasks are reviewed here, mainly relying on vision, but also resorting to touch and force. The use of such basic skills is then examined in the context of the different cloth manipulation tasks, be them garment-only applications in the line of performing domestic chores, or involving physical contact with a human as in dressing assistance.This work was developed in the context of the project CLOTHILDE (“CLOTH manIpulation Learning from DEmonstra-tions”), which has received funding from the European Research Council (ERC) under the European Union’s Horizon2020research and innovation programme (Advanced Grant agreement No 741930). This work is supported by the Spanish StateResearch Agency through the Mar ́ıa de Maeztu Seal of Excellence to IRI (MDM-2016-065Peer Reviewed20202020-01-0120212021-03-23journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/342252https://dx.doi.org/10.1007/s11047-020-09784-5reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 741930 CLOTH manIpulation Learning from DEmonstrationsopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3422522026-05-27T15:37:01Z
dc.title.none.fl_str_mv Perception of cloth in assistive robotic manipulation tasks
title Perception of cloth in assistive robotic manipulation tasks
spellingShingle Perception of cloth in assistive robotic manipulation tasks
Jiménez Schlegl, Pablo|||0000-0003-3627-4938
Computer vision
Object recognition
Robot vision
Service robots
Robotic assistance
Robotic cloth manipulation
Perception of cloth
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Perception of cloth in assistive robotic manipulation tasks
title_full Perception of cloth in assistive robotic manipulation tasks
title_fullStr Perception of cloth in assistive robotic manipulation tasks
title_full_unstemmed Perception of cloth in assistive robotic manipulation tasks
title_sort Perception of cloth in assistive robotic manipulation tasks
dc.creator.none.fl_str_mv Jiménez Schlegl, Pablo|||0000-0003-3627-4938
Torras, Carme|||0000-0002-2933-398X
author Jiménez Schlegl, Pablo|||0000-0003-3627-4938
author_facet Jiménez Schlegl, Pablo|||0000-0003-3627-4938
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Torras, Carme|||0000-0002-2933-398X
author2_role author
dc.subject.none.fl_str_mv Computer vision
Object recognition
Robot vision
Service robots
Robotic assistance
Robotic cloth manipulation
Perception of cloth
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Computer vision
Object recognition
Robot vision
Service robots
Robotic assistance
Robotic cloth manipulation
Perception of cloth
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The final publication is available at link.springer.com
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-01-01
2021
2021-03-23
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/342252
https://dx.doi.org/10.1007/s11047-020-09784-5
url https://hdl.handle.net/2117/342252
https://dx.doi.org/10.1007/s11047-020-09784-5
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 741930 CLOTH manIpulation Learning from DEmonstrations
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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