Definition and Classification of Primitives for the Robotic Unfolding of a Piece of Clothing

Dimitra Triantafyllou, Nikos A. Aspragathos

Abstract

In this paper a dictionary of primitives is proposed that define critical features for the representation of a cloth’s configuration so as to unfold it using a general manipulator. The primitives are defined, detected and classified according to geometrical criteria. Experimental results demonstrate the effectiveness of the detection and classification approach. Finally, applications are presented where the dictionary of the proposed primitives can be used, such as the definition of different types of folds of an unfolded fabric that can facilitate the unfolding task. Conclusion and suggestions for future work completes this paper.

References

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Paper Citation


in Harvard Style

Triantafyllou D. and A. Aspragathos N. (2014). Definition and Classification of Primitives for the Robotic Unfolding of a Piece of Clothing . In Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2014) ISBN 978-989-758-049-9, pages 417-422. DOI: 10.5220/0005155704170422


in Bibtex Style

@conference{keod14,
author={Dimitra Triantafyllou and Nikos A. Aspragathos},
title={Definition and Classification of Primitives for the Robotic Unfolding of a Piece of Clothing},
booktitle={Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2014)},
year={2014},
pages={417-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005155704170422},
isbn={978-989-758-049-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 1: KEOD, (IC3K 2014)
TI - Definition and Classification of Primitives for the Robotic Unfolding of a Piece of Clothing
SN - 978-989-758-049-9
AU - Triantafyllou D.
AU - A. Aspragathos N.
PY - 2014
SP - 417
EP - 422
DO - 10.5220/0005155704170422