Annotation scaffolds for manipulating articulated objects

2021 ◽  
Author(s):  
Pablo Frank-Bolton ◽  
Roxana Leontie ◽  
Evan Drumwright ◽  
Rahul Simha
Keyword(s):  
Articulated Objects

scholarly journals Topological representation of cloth state for robot manipulation

2021 ◽  
Author(s):  
Fabio Strazzeri ◽  
Carme Torras
Keyword(s):  
State Space ◽  
Configuration Space ◽  
Common Ground ◽  
Low Complexity ◽  
Flag Manifold ◽  
Infinite Dimensional ◽  
Articulated Objects ◽  
Research Goal ◽  
State Graphs ◽  
Deformable Materials

AbstractForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their infinite-dimensional shape-state space. Finding low-complexity representations has become a pressing research goal. This work tries to make a tiny step in this direction by proposing a state representation for textiles relying on the C-space of some distinctive points. A stratification of the configuration space for n points in the cloth is derived from that of the flag manifold, and topological techniques to determine adjacencies in manipulation-centred state graphs are developed. Their algorithmic implementation permits obtaining cloth state–space representations of different granularities and tailored to particular purposes. An example of their usage to distinguish between cloth states having different manipulation affordances is provided. Suggestions on how the proposed state graphs can serve as a common ground to link the perception, planning and manipulation of textiles are also made.

Recognizing articulated objects and object articulation in SAR images

1998 ◽  
Author(s):  
Bir Bhanu ◽  
Grinnell Jones III ◽  
Joon S. Ahn
Keyword(s):  
Sar Images ◽  
Articulated Objects

Generic Recognition of Articulated Objects through Reasoning about Potential Function

1995 ◽  
Vol 62 (2) ◽  
pp. 177-193 ◽  
Author(s):  
Kevin Green ◽  
David Eggert ◽  
Louise Stark ◽  
Kevin Bowyer
Keyword(s):  
Potential Function ◽  
Articulated Objects

Tracking articulated objects by learning intrinsic structure of motion

2009 ◽  
Vol 30 (3) ◽  
pp. 267-274 ◽  
Author(s):  
Xinxiao Wu ◽  
Wei Liang ◽  
Yunde Jia
Keyword(s):  
Intrinsic Structure ◽  
Articulated Objects
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