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Parametrized 2D/3D garment model for dexterous robotic manipulation

Automation; Deformation; Intelligent computing; Intelligent systems; Mesh generation; Mobile robots; Models; Robotics; Soft computing; Topology; Deformable modeling; Deformable object; Dexterous manipulation; Garment modeling; Home service robot; Recognition; Robotic manipulation; Smart-home system;...

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Main Authors: Yew C.H., Sahari K.S.M., Dickson Neoh T.H.
Other Authors: 37067465000
Format: Conference Paper
Published: Institute of Electrical and Electronics Engineers Inc. 2023
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spelling my.uniten.dspace-237612023-05-29T14:51:37Z Parametrized 2D/3D garment model for dexterous robotic manipulation Yew C.H. Sahari K.S.M. Dickson Neoh T.H. 37067465000 57218170038 56942483000 Automation; Deformation; Intelligent computing; Intelligent systems; Mesh generation; Mobile robots; Models; Robotics; Soft computing; Topology; Deformable modeling; Deformable object; Dexterous manipulation; Garment modeling; Home service robot; Recognition; Robotic manipulation; Smart-home system; 3D modeling The home service robot becomes a new dominant challenge for robotic researches especially for the development of the smart home system. The home service robot are used for nursing care service purposes which also designed to handle multiple types of house tasks such as garment folding. This work considers the problem of recognizing the configuration of the garment that already crudely spread-out on a flat platform before folding it into desired configuration. Later, the deformable model with its parameters is generated from the real garment for the dexterous robotic manipulation purposes. The approach to generate a parametrized 2D/3D deformable model for each category of real garments is proposed. Three garment categories which are towels, shirts and trousers are used as garment testing samples. The proposed approach will attempt to best fit the 2D mesh deformable model to the crudely spread-out garment in the captured image. The parameters of garment such as landmarks and robotic grasping points are predicted and the folding procedure can be planned. Once the parameters are defined, the 3D garment model such as shirt and trouser can be generated to provide a completed configuration for the real garment, where the mesh topology of the 2D garment model is preserved. Different mesh sizes can be considered by using this proposed approach. The experimental results shown that the approach can achieve effective and accurate on a set of the garment samples. � 2018 IEEE. Final 2023-05-29T06:51:37Z 2023-05-29T06:51:37Z 2018 Conference Paper 10.1109/SCIS-ISIS.2018.00058 2-s2.0-85067130826 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85067130826&doi=10.1109%2fSCIS-ISIS.2018.00058&partnerID=40&md5=02bf21d2009f8ffc7e33e307e6316fa5 https://irepository.uniten.edu.my/handle/123456789/23761 8716253 287 291 Institute of Electrical and Electronics Engineers Inc. Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description Automation; Deformation; Intelligent computing; Intelligent systems; Mesh generation; Mobile robots; Models; Robotics; Soft computing; Topology; Deformable modeling; Deformable object; Dexterous manipulation; Garment modeling; Home service robot; Recognition; Robotic manipulation; Smart-home system; 3D modeling
author2 37067465000
author_facet 37067465000
Yew C.H.
Sahari K.S.M.
Dickson Neoh T.H.
format Conference Paper
author Yew C.H.
Sahari K.S.M.
Dickson Neoh T.H.
spellingShingle Yew C.H.
Sahari K.S.M.
Dickson Neoh T.H.
Parametrized 2D/3D garment model for dexterous robotic manipulation
author_sort Yew C.H.
title Parametrized 2D/3D garment model for dexterous robotic manipulation
title_short Parametrized 2D/3D garment model for dexterous robotic manipulation
title_full Parametrized 2D/3D garment model for dexterous robotic manipulation
title_fullStr Parametrized 2D/3D garment model for dexterous robotic manipulation
title_full_unstemmed Parametrized 2D/3D garment model for dexterous robotic manipulation
title_sort parametrized 2d/3d garment model for dexterous robotic manipulation
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2023
_version_ 1806427835641888768
score 13.211869

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