Projects per year
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of feedback-based control to robotic fabric strip folding. The feedback is computed from the low dimensional state extracted from a camera image. We trained the controller using reinforcement learning in simulation which was calibrated to cover the real fabric strip behaviors. The proposed feedback-based folding was experimentally compared to two state-of-the-art folding methods and our method outperformed both of them in terms of accuracy.
|Title of host publication||Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019|
|Number of pages||6|
|Publication status||Published - 1 Nov 2019|
|MoE publication type||A4 Article in a conference publication|
|Event||IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China|
Duration: 4 Nov 2019 → 8 Nov 2019
|Name||Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Conference||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Period||04/11/2019 → 08/11/2019|
- Learning systems
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- 1 Finished
AI spider silk threading
Kyrki, V., Arndt, K., Petrik, V. & Blanco Mulero, D.
01/01/2018 → 31/12/2022
Project: Academy of Finland: Other research funding