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Benchmarking Bimanual Cloth Manipulation
CSIC UPC, Inst Robot & Informat Ind, Barcelona 08902, Spain..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
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: 0000-0002-3599-440X
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2020 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 5, no 2, p. 1111-1118Article in journal (Refereed) Published
Abstract [en]

Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this letter, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2020. Vol. 5, no 2, p. 1111-1118
Keywords [en]
Cooperating robots, performance evaluation and benchmarking
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-269022DOI: 10.1109/LRA.2020.2965891ISI: 000511836600009Scopus ID: 2-s2.0-85079233626OAI: oai:DiVA.org:kth-269022DiVA, id: diva2:1414468
Note

QC 20200313

Available from: 2020-03-13 Created: 2020-03-13 Last updated: 2020-03-13Bibliographically approved

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Lippi, MartinaWelle, Michael C.Yin, HangAntonova, RikaVarava, AnastasiiaKragic, Danica

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Lippi, MartinaWelle, Michael C.Yin, HangAntonova, RikaVarava, AnastasiiaTorras, CarmeKragic, Danica
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IEEE Robotics and Automation Letters
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