Parametrized 2D/3D garment model for dexterous robotic manipulation

Cheong Hou Yew, Khairul Salleh Mohamed Sahari, Tze How Dickson Neoh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The home service robot becomes a new dominant challenge for robotic researches especially for the development of the smart home system. The home service robot are used for nursing care service purposes which also designed to handle multiple types of house tasks such as garment folding. This work considers the problem of recognizing the configuration of the garment that already crudely spread-out on a flat platform before folding it into desired configuration. Later, the deformable model with its parameters is generated from the real garment for the dexterous robotic manipulation purposes. The approach to generate a parametrized 2D/3D deformable model for each category of real garments is proposed. Three garment categories which are towels, shirts and trousers are used as garment testing samples. The proposed approach will attempt to best fit the 2D mesh deformable model to the crudely spread-out garment in the captured image. The parameters of garment such as landmarks and robotic grasping points are predicted and the folding procedure can be planned. Once the parameters are defined, the 3D garment model such as shirt and trouser can be generated to provide a completed configuration for the real garment, where the mesh topology of the 2D garment model is preserved. Different mesh sizes can be considered by using this proposed approach. The experimental results shown that the approach can achieve effective and accurate on a set of the garment samples.

Original languageEnglish
Title of host publicationProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages287-291
Number of pages5
ISBN (Electronic)9781538626337
DOIs
Publication statusPublished - 15 May 2019
EventJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 - Toyama, Japan
Duration: 05 Dec 201808 Dec 2018

Publication series

NameProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018

Conference

ConferenceJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
CountryJapan
CityToyama
Period05/12/1808/12/18

Fingerprint

Deformable Models
Folding
3D Model
Service Robot
Robotics
Manipulation
Mesh
Configuration
Smart Home
Grasping
Nursing
Landmarks
Robots
Topology
Testing
Experimental Results
Model

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Logic
  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Science Applications
  • Theoretical Computer Science

Cite this

Yew, C. H., Mohamed Sahari, K. S., & Dickson Neoh, T. H. (2019). Parametrized 2D/3D garment model for dexterous robotic manipulation. In Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 (pp. 287-291). [8716253] (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2018.00058
Yew, Cheong Hou ; Mohamed Sahari, Khairul Salleh ; Dickson Neoh, Tze How. / Parametrized 2D/3D garment model for dexterous robotic manipulation. Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 287-291 (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018).
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Yew, CH, Mohamed Sahari, KS & Dickson Neoh, TH 2019, Parametrized 2D/3D garment model for dexterous robotic manipulation. in Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018., 8716253, Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018, Institute of Electrical and Electronics Engineers Inc., pp. 287-291, Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018, Toyama, Japan, 05/12/18. https://doi.org/10.1109/SCIS-ISIS.2018.00058

Parametrized 2D/3D garment model for dexterous robotic manipulation. / Yew, Cheong Hou; Mohamed Sahari, Khairul Salleh; Dickson Neoh, Tze How.

Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 287-291 8716253 (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yew CH, Mohamed Sahari KS, Dickson Neoh TH. Parametrized 2D/3D garment model for dexterous robotic manipulation. In Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 287-291. 8716253. (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018). https://doi.org/10.1109/SCIS-ISIS.2018.00058