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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationBorras, J.; Alenyà, G.; Torras, C. A Grasping-centered analysis for cloth manipulation. "IEEE transactions on robotics", 1 Juny 2020, vol. 36, núm. 3, p. 924-936.
dc.description© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstractCompliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible objects such as textiles, we face the dual problem: it is the object that will adapt to the shape of the hand or gripper. In this context, the classic grasp analysis or grasping taxonomies are not suitable for describing textile objects grasps. This article proposes a novel definition of textile object grasps that abstracts from the robotic embodiment or hand shape and recovers concepts from the early neuroscience literature on hand prehension skills. This framework enables us to identify what grasps have been used in literature until now to perform robotic cloth manipulation, and allows for a precise definition of all the tasks that have been tackled in terms of manipulation primitives based on regrasps. In addition, we also review what grippers have been used. Our analysis shows how the vast majority of cloth manipulations have relied only on one type of grasp, and at the same time we identify several tasks that need more variety of grasp types to be executed successfully. Our framework is generic, provides a classification of cloth manipulation primitives and can inspire gripper design and benchmark construction for cloth manipulation.
dc.description.sponsorshipThis workwas supported in part by the European Research Council from the EuropeanUnion Horizon 2020 Programme under Grant 741930 (CLOTHILDE: CLOTHmanIpulation Learning from DEmonstrations), in part by the Spanish StateResearch Agency through the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656), and in part by the “Ramon y Cajal” Fellowship RYC-2017-22703.
dc.format.extent13 p.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherCloth manipulation
dc.subject.otherDexterous manipulation
dc.subject.otherGrasping taxonomy
dc.subject.otherRobot grippers
dc.titleA Grasping-centered analysis for cloth manipulation
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Manipulators
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE
local.citation.authorBorras, J.; Alenyà, G.; Torras, C.
local.citation.publicationNameIEEE transactions on robotics

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