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Yinxiao Li, Danfei Xu, Yonghao Yue, Yan Wang, Shih-Fu Chang, Eitan Grinspun, Peter K. Allen. Regrasping and Unfolding of Garments Using Predictive Thin Shell Modeling. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.

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Deformable objects such as garments are highly unstructured, making them difficult to recognize and manipulate. In this paper, we propose a novel method to teach a twoarm robot to efficiently track the states of a garment from an unknown state to a known state by iterative regrasping. The problem is formulated as a constrained weighted evaluation metric for evaluating the two desired grasping points during regrasping, which can also be used for a convergence criterion The result is then adopted as an estimation to initialize a regrasping, which is then considered as a new state for evaluation. The process stops when the predicted thin shell conclusively agrees with reconstruction. We show experimental results for regrasping a number of different garments including sweater, knitwear, pants, and leggings, etc


Yinxiao Li
Dong Xu
Yan Wang
Yong Wang
Shih-Fu Chang

BibTex Reference

   Author = {Li, Yinxiao and Xu, Danfei and Yue, Yonghao and Wang, Yan and Chang, Shih-Fu and Grinspun, Eitan and Allen, Peter K.},
   Title = {Regrasping and Unfolding of Garments Using Predictive Thin Shell Modeling},
   BookTitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
   Year = {2015}

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