Household clothing set and benchmarks for characterising end-effector cloth manipulation
File(s)
Accepted version
Author(s)
Clark, Angus B
Cramphorn-Neal, Luke
Rachowiecki, Michal
Gregg-Smith, Austin
Type
Conference Paper
Abstract
The highly varied and deformable structure of clothing presents a challenging task in the area of robot manipulation. Recent literature has shown an increasing interest in this field, however limited information exists on the influence of end-effector selection, instead focusing on the perception, modelling, and methodology in handling fabrics. Here, we present a benchmark set of household clothing items, along with a framework for defining textile features in relation to how the objects can be grasped and manipulated. Alongside these, we present four example benchmarks for evaluating the performance of a robot end-effector in relation to the grasping and manipulation of common pieces of clothing: Edge drag accuracy, edge grasp resilience, grasp encapsulation, and grasp fold generation. We perform these benchmarks on several common robot end-effectors (Franka Emika (FE) Hand with standard and Fin Ray® style fingers (Flex), Robotiq 2F-140, and the Openhand Model T42) and present and discuss their respective performances. Results show that the Robotiq scored highest across most benchmarks, closely followed by the FE hand. The T42 showed excellent encapsulation of items, while the FE (Flex) was particularly successful picking up flat edges.
Date Issued
2023-07-04
Date Acceptance
2023-05-01
Citation
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp.9211-9217
ISSN
1050-4729
Publisher
IEEE
Start Page
9211
End Page
9217
Journal / Book Title
2023 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
Copyright © 2023 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.
Identifier
https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:001048371101125&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
Source
IEEE International Conference on Robotics and Automation (ICRA)
Subjects
Automation & Control Systems
Computer Science
Computer Science, Artificial Intelligence
Engineering
Engineering, Electrical & Electronic
Robotics
Science & Technology
SYSTEM
Technology
Publication Status
Published
Start Date
2023-05-29
Finish Date
2023-06-02
Coverage Spatial
London, UK