Active Boundary Component Models for robotic dressing assistance
Open accessAbstract
The dynamics of deformable objects, especially that of highly flexible articles of clothing, is difficult to model. This is due to their vast number of degrees of freedom in addition to the noisy and incomplete measurements robots have to cope with. Therefore, we suggest focusing on the structures and object parts which are relevant to the task at hand. The openings (e.g., at the waist, leg or sleeve ends) characterize garments surprisingly well, not only from a topological perspective, but also in terms of their inherent function, namely dressing. We model openings as closed, oriented chains of movable points which we refer to as Active Boundary Component Models (ABCMs). Compared with the hardly predictable motions of an overall piece of clothing, relatively strict assumptions regarding the dynamics of these contour models can be made. We express these assumptions through position-based constraints which drastically restrict the degrees of freedom. In the present paper, we show how ABCMs can be initialized exploiting geometric prior knowledge of garments, and how they can be tracked visually using 3D point cloud data. Additionally, we consider the task of sliding a rod through a pant leg as a first step toward robotic dressing assistance for physically handicapped persons.
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The topological and functional properties of garments are highly correlated.
“First, the topological and functional properties of garments are highly correlated [323].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [323]
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Probabilistic real-time user posture tracking for personalized robot-assisted dressing
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“First, the topological and functional properties of garments are highly correlated [323].”
Background
- Authors
- Twardon, L., & Ritter, H.
- Affiliations
- Bielefeld University (DE)
- Venue
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publisher
- IEEE
- Published
- 2016-10
- Pages
- 2811-2818
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2564922367
- Cited by
- 18
- References
- 30
- Citations by year
- 2026: 1 · 2025: 1 · 2024: 2 · 2023: 4 · 2022: 6 · 2021: 1 · 2019: 1 · 2018: 2
- FWCI
- 1.82
- Type
- conference paper
- Language
- en
- Open access
- green
- pub.uni-bielefeld.de
- Licence
- other-oa
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- PUB – Publications at Bielefeld University (Bielefeld University) (submittedVersion)
- Publikationen an der Universität Bielefeld (Universität Bielefeld) (submittedVersion, other-oa)
- Topics
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- clothing modeling, physically handicapped persons
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