Publication:

Insights for robotic cloth manipulation: A comprehensive analysis of a competition-winning system

Date

2025
Journal article
https://doi.org/10.1177/17298806251322582
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cris.virtual.orcid0000-0001-5071-5619
cris.virtual.orcid0000-0003-2046-573X
cris.virtual.orcid0000-0002-5925-625X
cris.virtual.orcid0000-0001-9530-5349
cris.virtual.orcid0000-0002-5491-8349
cris.virtualsource.department31f07c8c-752a-4821-90f3-55a2e6ca2b9d
cris.virtualsource.departmentfda034ab-ba13-4ab8-ad20-d3f7d13ec475
cris.virtualsource.departmentc6b88891-1c1f-4748-bdc7-a239f2748fbe
cris.virtualsource.department59a3899a-a3a6-483d-8532-f6c69c2496b9
cris.virtualsource.departmentffd3055b-f949-4b69-96cb-12e9d119f909
cris.virtualsource.orcid31f07c8c-752a-4821-90f3-55a2e6ca2b9d
cris.virtualsource.orcidfda034ab-ba13-4ab8-ad20-d3f7d13ec475
cris.virtualsource.orcidc6b88891-1c1f-4748-bdc7-a239f2748fbe
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cris.virtualsource.orcidffd3055b-f949-4b69-96cb-12e9d119f909
dc.contributor.authorDe Gusseme, Victor-Louis
dc.contributor.authorProesmans, Remko
dc.contributor.authorLips, Thomas
dc.contributor.authorVerleysen, Andreas
dc.contributor.authorWyffels, Francis
dc.contributor.imecauthorDe Gusseme, Victor-Louis
dc.contributor.imecauthorProesmans, Remko
dc.contributor.imecauthorLips, Thomas
dc.contributor.imecauthorVerleysen, Andreas
dc.contributor.imecauthorWyffels, Francis
dc.contributor.orcidimecDe Gusseme, Victor-Louis::0000-0003-2046-573X
dc.contributor.orcidimecProesmans, Remko::0000-0002-5925-625X
dc.contributor.orcidimecLips, Thomas::0000-0001-9530-5349
dc.contributor.orcidimecVerleysen, Andreas::0000-0001-5071-5619
dc.contributor.orcidimecWyffels, Francis::0000-0002-5491-8349
dc.date.accessioned2025-03-25T11:06:06Z
dc.date.available2025-03-25T04:52:59Z
dc.date.available2025-03-25T11:06:06Z
dc.date.issued2025
dc.description.abstractRobotic cloth manipulation will be important for assistive robots. To thoroughly evaluate progress in this field, a Cloth Manipulation and Perception Competition was organised at IROS 2022 and ICRA 2023. In this article, we present the system that won the folding track at IROS 2022 and the folding and unfolding tracks at ICRA 2023. By combining visual and tactile information with engineered motions, we built a system that can generalise to a range of patterned towels made from various materials, as required for the competition. We describe our system and its limitations, which we relate to future work with the goal of creating systems that can deal with any cloth, robot, or surface.
dc.description.wosFundingTextThe authors disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by Research Foundation Flanders (FWO) under Grant Numbers 1SD4421N, 1S15923N, 1S56022N and the euROBIn Project (EU grant number 101070596).
dc.identifier.doi10.1177/17298806251322582
dc.identifier.issn1729-8814
dc.identifier.urihttps://imec-publications.be/handle/20.500.12860/45444
dc.publisherSAGE PUBLICATIONS INC
dc.source.beginpage1
dc.source.endpage10
dc.source.issue2
dc.source.journalINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
dc.source.numberofpages10
dc.source.volume22
dc.subject.keywordsBENCHMARKING
dc.title

Insights for robotic cloth manipulation: A comprehensive analysis of a competition-winning system

dc.typeJournal article
dspace.entity.typePublication
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