Feedback-based Fabric Strip Folding

Vladimir Petrik; Ville Kyrki

doi:10.1109/IROS40897.2019.8967657

Feedback-based Fabric Strip Folding

Vladimir Petrik, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

11 Citations (Scopus)

153 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	IEEE
Pages	773-778
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967657
Publication status	Published - 1 Nov 2019
MoE publication type	A4 Conference publication
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/

Publication series

Name	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS
Country/Territory	China
City	Macau
Period	04/11/2019 → 08/11/2019
Internet address	https://www.iros2019.org/

Keywords

Fabrics
Feedback
Learning systems
Manipulators

Access to Document

10.1109/IROS40897.2019.8967657

ELEC_Petrik_etal_Feedback-Based-Fabric-Strip_IROS2019_authoracceptedmanuscriptAccepted author manuscript, 771 KB

Cite this

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title = "Feedback-based Fabric Strip Folding",

abstract = "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.",

keywords = "Fabrics, Feedback, Learning systems, Manipulators",

author = "Vladimir Petrik and Ville Kyrki",

year = "2019",

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language = "English",

series = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

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booktitle = "Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ; Conference date: 04-11-2019 Through 08-11-2019",

url = "https://www.iros2019.org/",

}

Petrik, V & Kyrki, V 2019, Feedback-based Fabric Strip Folding. in Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967657, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 773-778, IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 04/11/2019. https://doi.org/10.1109/IROS40897.2019.8967657

Feedback-based Fabric Strip Folding. / Petrik, Vladimir; Kyrki, Ville.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IEEE, 2019. p. 773-778 8967657 (Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Feedback-based Fabric Strip Folding

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AU - Kyrki, Ville

PY - 2019/11/1

Y1 - 2019/11/1

N2 - 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.

AB - 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.

KW - Fabrics

KW - Feedback

KW - Learning systems

KW - Manipulators

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M3 - Conference article in proceedings

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BT - Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019

PB - IEEE

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems

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ER -

Feedback-based Fabric Strip Folding

Abstract

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Keywords

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-: AI spider silk threading

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Feedback-based Fabric Strip Folding

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Projects

-: AI spider silk threading

Cite this