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Li, Yinxiao (Columbia University), Yue, Yonghao (Columbia University), Xu, Danfei (Columbia University), Grinspun, Eitan (Columbia University), Allen, Peter (Columbia University)

Folding Deformable Objects Using Predictive Simulation and Trajectory Optimization

Scheduled for presentation during the Regular session "Robot Companions and Social Human-Robot Interaction" (ThFT1), Thursday, October 1, 2015, 17:35−17:50, Saal D

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 20, 2019

Keywords Domestic Robots and Home Automation, Animation and Simulation, Manipulation Planning and Control

Abstract

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain trajectories will cause the garment to move, creating wrinkles, and gaps, other trajectories will fail altogether. We present a novel solution to find an optimal trajectory that avoids such problematic scenarios. The trajectory is optimized by minimizing a quadratic objective function in an off-line simulator, which includes material properties of the garment and frictional force on the table. The function measures the dissimilarity between a user specified folded shape and the folded garment in simulation, which is then used as an error measurement to create an optimal trajectory. We demonstrate that our two-arm robot can follow the optimized trajectories, achieving accurate and efficient manipulations of deformable objects.

 

 

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