3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.CG2024
Topological reconstruction of sampled surfaces via Morse theory
Franco Coltraro, Jaume Amorós, Maria Alberich-Carramiñana +1
In this work, we study the perception problem for sampled surfaces (possibly with boundary) using tools from computational topology, specifically, how to identify their underlying…