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A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-5700-684x
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-3432-6151
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3827-3824
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
2023 (English)In: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots, IEEE, 2023Conference paper, Published paper (Refereed)
Abstract [en]

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing for replicating the folding on unseen items of the same class. We evaluate the framework in the context of automating garment folding tasks. A quantitative analysis is performed on three classes of garments, demonstrating that the framework reduces the need for intervention by the user. We also compare skeleton representations with RGB images in a classification task on a large dataset of clothing items, motivating the use of the proposed framework for other classes of garments.

Place, publisher, year, edition, pages
IEEE, 2023.
Series
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
URN: urn:nbn:se:kth:diva-344957DOI: 10.1109/HUMANOIDS57100.2023.10375184ISI: 001156965200045Scopus ID: 2-s2.0-85164729488OAI: oai:DiVA.org:kth-344957DiVA, id: diva2:1849567
Conference
IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), DEC 12-14, 2023, Austin, TX
Note

QC 20240408

Part of ISBN 979-8-3503-0327-8

Available from: 2024-04-08 Created: 2024-04-08 Last updated: 2024-04-08Bibliographically approved

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Moletta, MarcoWozniak, Maciej K.Welle, Michael C.Kragic, Danica

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