Elastic Context: Encoding Elasticity for Data-driven Models of Textiles

Elastic Context : Encoding Elasticity for Data-driven Models of Textiles

Part of ISBN 9798350323658QC 20230615
Physical interaction with textiles, such as assistivedressing or household tasks, requires advanced dexterous skills.The complexity of textile behavior during stretching and pullingis influenced by the material properties of the yarn and bythe textile’s construction technique, which are often unknownin real-world settings. Moreover, identification of physicalproperties of textiles through sensing commonly available onrobotic platforms remains an open problem. To address this,we introduce Elastic Context (EC), a method to encode theelasticity of textiles using stress-strain curves adapted fromtextile engineering for robotic applications. We employ EC tolearn generalized elastic behaviors of textiles and examine theeffect of EC dimension on accurate force modeling of real-worldnon-linear elastic behaviors.

Moletta, MarcoKTH,Collaborative Autonomous Systems,Robotik, perception och lärande, RPL(Swepub:kth)u1jyqnf5 (author)
Reichlin, AlfredoKTH,Centrum för autonoma system, CAS(Swepub:kth)u1umc06v (author)
Welle, Michael C.KTH,Robotik, perception och lärande, RPL(Swepub:kth)u1faph1k (author)
Kravberg, AlexanderKTH,Organisk kemi(Swepub:kth)u1q0fjts (author)
Wang, YufeiRobotic Institute, Carnegie Mellon University, CMU (author)
Held, DavidRobotic Institute, Carnegie Mellon University, CMU (author)
Erickson, Zackory (author)
Kragic, Danica,1971-KTH,Robotik, perception och lärande, RPL,Centrum för autonoma system, CAS,Collaborative Autonomous Systems(Swepub:kth)u1ydsyln (author)
KTHRobotik, perception och lärande, RPL (creator_code:org_t)

In:Proceedings - ICRA 2023: Institute of Electrical and Electronics Engineers (IEEE), s. 1764-1770

By the author/editor: Longhini, Albert ...; Moletta, Marco; Reichlin, Alfred ...; Welle, Michael C ...; Kravberg, Alexan ...; Wang, Yufei; show more...; Held, David; Erickson, Zackor ...; Kragic, Danica, ...; show less...

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Robotics

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