ICRA 2011 Paper Abstract


Paper WeP114.5

Cusumano-Towner, Marco (University of California, Berkeley), Singh, Arjun (University of California, Berkeley), Miller, Stephen (University of Califonia at Berkeley), Abbeel, Pieter (UC Berkeley), O'Brien, James (UC Berkeley)

Bringing Clothing into Desired Configurations with Limited Perception

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation III" (WeP114), Wednesday, May 11, 2011, 14:40−14:55, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Personal Robots, Computer Vision for Robotics and Automation, Manipulation Planning


We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot. We propose a hidden Markov model (HMM) for estimating the identity of the article and tracking the article's configuration throughout a specific sequence of manipulations and observations. At the end of this sequence, the article's configuration is known, though not necessarily desired. The estimated identity and configuration of the article are then used to plan a second sequence of manipulations that brings the article into the desired configuration. We propose a relaxation of a strain-limiting finite element model for cloth simulation that can be solved via convex optimization; this serves as the basis of the transition and observation models of the HMM. The observation model uses simple perceptual cues consisting of the height of the article when held by a single gripper and the silhouette of the article when held by two grippers. The model accurately estimates the identity and configuration of clothing articles, enabling our procedure to autonomously bring a variety of articles into desired configurations that are useful for other tasks, such as folding.



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