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

Dimitra Triantafyllou; Nikos A. Aspragathos

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Paper

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

Topics: Applications and Case-Studies; Knowledge Representation

In Proceedings of the International Conference on Knowledge Engineering and Ontology Development - Volume 0IC3K, 417-422, 2014 , Rome, Italy

Authors: Dimitra Triantafyllou and Nikos A. Aspragathos

Affiliation: University of Patras, Greece

Keyword(s): Clothes, Unfolding, Primitives.

Related Ontology Subjects/Areas/Topics: Applications and Case-studies ; Artificial Intelligence ; Knowledge Engineering and Ontology Development ; Knowledge Representation ; Knowledge-Based Systems ; Symbolic Systems

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.

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Paper citation in several formats:

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 (IC3K 2014) - KEOD; ISBN 978-989-758-049-9; ISSN 2184-3228, SciTePress, pages 417-422. DOI: 10.5220/0005155704170422

@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 (IC3K 2014) - KEOD},
year={2014},
pages={417-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005155704170422},
isbn={978-989-758-049-9},
issn={2184-3228},
}

TY - CONF

JO - Proceedings of the International Conference on Knowledge Engineering and Ontology Development (IC3K 2014) - KEOD
TI - Definition and Classification of Primitives for the Robotic Unfolding of a Piece of Clothing
SN - 978-989-758-049-9
IS - 2184-3228
AU - Triantafyllou, D.
AU - A. Aspragathos, N.
PY - 2014
SP - 417
EP - 422
DO - 10.5220/0005155704170422
PB - SciTePress