The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
Reinforcement learning of clothing assistance with a dual-arm robot
Abstract
This study aims at robotic clothing assistance as it is yet an open field for robotics despite it is one of the basic and important assistance activities in daily life of elderly as well as disabled people. The clothing assistance is a challenging problem since robots must interact with non-rigid clothes generally represented in a high-dimensional space, and with the assisted person whose posture can vary during the assistance. Thus, the robot is required to manage two difficulties to perform the task of the clothing assistance: 1) handling of non-rigid materials and 2) adaptation of the assisting movements to the assisted person's posture. To overcome these difficulties, we propose to use reinforcement learning with the cloth's state which is low-dimensionally represented in topology coordinates, and with the reward defined in the low-dimensional coordinates. With our developed experimental system, for T-shirt clothing assistance, including an anthropomorphic dual-arm robot and a soft mannequin, we demonstrate the robot quickly learns a suitable arm motion for putting the mannequin's head into a T-shirt.
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In the citing paper
“Kinesthetic teaching is leveraged frequently in assistive dressing, where a human coordinator grabs the robot arm to demonstrate dressing trajectories, and the data are collected through the robot’s sensorimotors [1].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
In the citing paper
“In CDO manipulation, policy-gradient methods VPG [1] and TRPO [31,32] are applied in dressing in simulation (Section 6.3.2).”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
In the citing paper
“Although there have been several attempts [1,31,38], designing a simple and effective dense reward function for cloth folding and dressing tasks is still challenging.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
Citations
Cites
Reinforcement learning of motor skills with policy gradients
Peters, J., & Schaal, S. (2008) · Neural Networks · doi:10.1016/j.neunet.2008.02.003 · Cited by 831
Maitin-Shepard, J., Cusumano-Towner, M., Lei, J., & Abbeel, P. (2010) · 2010 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2010.5509439 · Cited by 418
A Kendama Learning Robot Based on Bi-directional Theory
Miyamoto, H., Schaal, S., Gandolfo, F., Gomi, H., Koike, Y., Osu, R., Nakano, E., Wada, Y., & Kawato, M. (1996) · Neural Networks · doi:10.1016/s0893-6080(96)00043-3 · Cited by 171
A theory for cursive handwriting based on the minimization principle
Wada, Y., & Kawato, M. (1995) · Biological Cybernetics · doi:10.1007/bf00199051 · Cited by 89
Clothes state recognition using 3D observed data
Kita, Y., Ueshiba, T., Neo, E., & Kita, N. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152741 · Cited by 73
Character Motion Synthesis by Topology Coordinates
Ho, E. S. L., & Komura, T. (2009) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2009.01369.x · Cited by 65
A Cloth Detection Method Based on Image Wrinkle Feature for Daily Assistive Robots.
Yamazaki, K. (2009) · Cited by 50
Research works printed but not linked: 2
- shinohara, 0, A learning framework for motor skills with non-rigid materials based on reinforcement learning, Proc of the 29th Ann Conf of the Robotics Society of Japan 2011, 3
- pohl, 1968, The self-linking number of a closed space curve, Journal of Mathematics and Mechanics, 17, 875
Cited by
Sorted by citations
Sánchez, J. M. O., Ramón, J. A. C., Bouzgarrou, B. C., & Mezouar, Y. (2018) · The International Journal of Robotics Research · doi:10.1177/0278364918779698 · Cited by 454
Human – robot interaction review and challenges on task planning and programming
Tsarouchi, P., Makris, S., & Chryssolouris, G. (2016) · International Journal of Computer Integrated Manufacturing · doi:10.1080/0951192x.2015.1130251 · Cited by 376
Modeling, learning, perception, and control methods for deformable object manipulation
Yin, H., Varava, A., & Kragic, D. (2021) · Science Robotics · doi:10.1126/scirobotics.abd8803 · Cited by 299
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Zhu, J., Cherubini, A., Dune, C., Navarro-Alarcón, D., Alambeigi, F., Berenson, D., Ficuciello, F., Harada, K., Kober, J., Li, X., et al. (2022) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2022.3147415 · Cited by 299
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Erickson, Z., Gangaram, V., Kapusta, A. S., Liu, C. K., & Kemp, C. C. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197411 · Cited by 104
Metadata
- Authors
- Tamei, T., Matsubara, T., Rai, A., & Shibata, T.
- Affiliations
- Nara Institute of Science and Technology (JP)
- Indian Institute of Technology Kanpur (IN)
- Venue
- 2011 11th IEEE-RAS International Conference on Humanoid Robots
- Publisher
- IEEE
- Published
- 2011-10
- Pages
- 733-738
- OpenAlex
- W1989564233
- Cited by
- 103
- References
- 7
- Citations by year
- 2026: 6 · 2025: 9 · 2024: 13 · 2023: 9 · 2022: 9 · 2021: 2 · 2020: 6 · 2019: 7 · 2018: 8 · 2017: 13 · 2016: 8 · 2015: 3 · 2014: 4 · 2013: 4 · 2012: 2
- FWCI
- 5.35
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE-RAS International Conference on Humanoid Robots (Humanoids) (publishedVersion)
- Funders
- Japan Society for the Promotion of Science
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- dual-arm robot, reinforcement learning, humanoid robots
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