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Robotic cloth manipulation for clothing assistance task using Dynamic Movement Primitives
http://hdl.handle.net/10228/00007709
http://hdl.handle.net/10228/00007709a2fa0f39-1d88-4f45-bbe7-fc6a898d6c04
| 名前 / ファイル | ライセンス | アクション |
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10309298.pdf (1.0 MB)
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| Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2020-04-21 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Robotic cloth manipulation for clothing assistance task using Dynamic Movement Primitives | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Joshi, Ravi P.
× Joshi, Ravi P.× Koganti, Nishanth× 柴田, 智広
WEKO
27592
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | The need of robotic clothing assistance in the field of assistive robotics is growing, as it is one of the most basic and essential assistance activities in daily life of elderly and disabled people. In this study we are investigating the applicability of using Dynamic Movement Primitives (DMP) as a task parameterization model for performing clothing assistance task. Robotic cloth manipulation task deals with putting a clothing article on both the arms. Robot trajectory varies significantly for various postures and also there can be various failure scenarios while doing cooperative manipulation with non-rigid and highly deformable clothing article. We have performed experiments on soft mannequin instead of human. Result shows that DMPs are able to generalize movement trajectory for modified posture. | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | 3rd International Conference of Robotics Society of India (AIR '17: Advances in Robotics), June 28 - July 2, 2017, New Delhi, India | |||||||||||||
| 書誌情報 |
AIR '17: Proceedings of the Advances in Robotics 号 14, p. 1-6, 発行日 2017-06 |
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| 出版者 | ACM | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1145/3132446.3134878 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-4503-5294-9 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) ACM, 2017. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in AIR '17: Proceedings of the Advances in Robotics | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Robotic Clothing Assistance | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Dynamic Movement Primitives (DMP) | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Human-Robot Interaction | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Learning and Adaptive Systems | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Learn-ing from Demonstration | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10309298 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 8213 | |||||||||||||
