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Perception of cloth in assistive robotic manipulation tasks
Natural Computing ( IF 2.1 ) Pub Date : 2020-02-12 , DOI: 10.1007/s11047-020-09784-5
Pablo Jiménez , Carme Torras

Assistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing assistance to disabled users. Due to the deformable nature of fabrics, this manipulation requires a strong perceptual feedback. Common perceptual skills that enable robots to complete their cloth manipulation tasks are reviewed here, mainly relying on vision, but also resorting to touch and force. The use of such basic skills is then examined in the context of the different cloth manipulation tasks, be them garment-only applications in the line of performing domestic chores, or involving physical contact with a human as in dressing assistance.

中文翻译:

辅助机器人操作任务中布料的感知

辅助机器人需要能够执行很多任务,这意味着要进行某种类型的布料操作。这些任务包括家务劳动,例如洗衣或床铺等,以及为残疾用户提供的衣着帮助。由于织物的可变形性,这种操作需要强大的知觉反馈。这里回顾了使机器人完成布料操作任务的常见感知技能,主要依靠视觉,但也依靠触摸和用力。然后,在不同的布料处理任务中检查这些基本技能的使用情况,无论是在做家务时,还是在与人的身体接触(如穿衣辅助)中,它们都是仅用于服装方面的应用。
更新日期:2020-02-12
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