TY  - JOUR
AB  - Robotic manipulation of such highly deformable objects as clothes is a challenging problem. Robot-assisted dressing adds even more complexity as the garment motions must be aligned with a human body under conditions of strong and variable occlusion. As a step toward solutions for the general task, we consider the example of a dual-arm robot with attached anthropomorphic hands that learns to put a knit cap on a styrofoam head. Our approach avoids modeling the details of the garment and its deformations. Instead, we demonstrate that a head-centric policy parameterization, combined with a suitable objective function for determining the right amount of contact between the cap and the head, enables a direct policy search algorithm to find successful trajectories for this task. We also show how a toy problem that mirrors some of the task constraints can be used to efficiently structure hyperparameter search. Additionally, we suggest a point cloud based algorithm for modeling the head as an ellipsoid which is required for defining the policy space.
DA  - 2018
DO  - 10.1109/LRA.2018.2792153
KW  - Learning and adaptive systems
KW  - RGB-D perception
KW  - human detection and
KW  - tracking
LA  - eng
IS  - 2
M2  - 764
PY  - 2018
SN  - 2377-3766
SP  - 764-771
T2  - IEEE ROBOTICS AND AUTOMATION LETTERS
TI  - Learning to Put On a Knit Cap in a Head-Centric Policy Space
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-29177311
Y2  - 2024-11-22T03:16:23
ER  -