2 citations · 4 across the 6 of their papers we have counts for
5 papers · 1 filter
A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation
Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana +1
This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust, fast and easy to implement…
Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control
Edoardo Caldarelli, Franco Coltraro, Adrià Colomé +2
Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subjec…
A novel collision model for inextensible textiles and its experimental validation
Franco Coltraro, Jaume Amorós, Maria Alberich-Carramiñana +1
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constrai…
The dGLI Cloth Coordinates: A Topological Representation for Semantic Classification of Cloth States
Franco Coltraro, Josep Fontana, Jaume Amorós +3
Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we intr…
An Inextensible Model for Robotic Simulations of Textiles
Franco Coltraro, Jaume Amorós, Maria Alberich-Carramiñana +1
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of huma…