A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing for replicating the folding on unseen items of the same class....

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Bibliographic Details
Main Authors: Moletta, Marco, Wozniak, Maciej K., Welle, Michael C., Kragic, Danica
Format: Conference Proceeding
Language:English
Subjects:
Automation
Collaboration
Data collection
Humanoid robots
Statistical analysis
Virtual reality
Online Access:Request full text
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Description
Summary:We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing for replicating the folding on unseen items of the same class. We evaluate the framework in the context of automating garment folding tasks. A quantitative analysis is performed on three classes of garments, demonstrating that the framework reduces the need for intervention by the user. We also compare skeleton representations with RGB images in a classification task on a large dataset of clothing items, motivating the use of the proposed framework for other classes of garments.
ISSN:2164-0580
DOI:10.1109/Humanoids57100.2023.10375184