Explore the words cloud of the CLOTHILDE project. It provides you a very rough idea of what is the project "CLOTHILDE" about.
The following table provides information about the project.
AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS
|Coordinator Country||Spain [ES]|
|Total cost||2˙499˙149 €|
|EC max contribution||2˙499˙149 € (100%)|
1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC))
|Duration (year-month-day)||from 2018-01-01 to 2022-12-31|
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|1||AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS||ES (MADRID)||coordinator||2˙499˙149.00|
Textile objects pervade human environments and their versatile manipulation by robots would open up a whole range of possibilities, from increasing the autonomy of elderly and disabled people, housekeeping and hospital logistics, to novel automation in the clothing internet business and upholstered product manufacturing. Although efficient procedures exist for the robotic handling of rigid objects and the virtual rendering of deformable objects, cloth manipulation in the real world has proven elusive, because the vast number of degrees of freedom involved in non-rigid deformations leads to unbearable uncertainties in perception and action outcomes.
This proposal aims at developing a theory of cloth manipulation and carrying it all the way down to prototype implementation in our Lab. By combining powerful recent tools from computational topology and machine learning, we plan to characterize the state of textile objects and their transformations under given actions in a compact operational way (i.e., encoding task-relevant topological changes), which would permit probabilistic planning of actions (first one handed, then bimanual) that ensure reaching a desired cloth configuration despite noisy perceptions and inaccurate actions.
In our approach, the robot will learn manipulation skills from an initial human demonstration, subsequently refined through reinforcement learning, plus occasional requests for user advice. The skills will be encoded as parameterised dynamical systems, and safe interaction with humans will be guaranteed by using a predictive controller based on a model of the robot dynamics. Prototypes will be developed for 3 envisaged applications: recognizing and folding clothes, putting an elastic cover on a mattress or a car seat, and helping elderly and disabled people to dress. The broad Robotics and AI background of the PI and the project narrow focus on clothing seem most appropriate to obtain a breakthrough in this hard fundamental research topic.
|year||authors and title||journal||last update|
Assistive robotics: Research challenges and ethics education initiatives
published pages: 63-77, ISSN: 1989-7022, DOI:
|DILEMATA: International Journal of Applied Ethics 30||2019-08-29|
Adria Colome, Carme Torras
Dimensionality Reduction in Learning Gaussian Mixture Models of Movement Primitives for Contextualized Action Selection and Adaptation
published pages: 3922-3929, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2857921
|IEEE Robotics and Automation Letters 3/4||2019-06-06|
Fabio Amadio, Adria Colome, Carme Torras
Exploiting Symmetries in Reinforcement Learning of Bimanual Robotic Tasks
published pages: 1838-1845, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2898330
|IEEE Robotics and Automation Letters 4/2||2019-06-06|
Adria Colome, Carme Torras
Dimensionality Reduction for Dynamic Movement Primitives and Application to Bimanual Manipulation of Clothes
published pages: 602-615, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2808924
|IEEE Transactions on Robotics 34/3||2019-06-06|
Rishabh Jangir, Guillem Alenya, Carme Torras
Learning cloth manipulation with demonstrations
published pages: , ISSN: , DOI:
|IRI Technical Reports||2019-06-06|
Xarxes socials icompanyia robÃ²tica: tecnologia, Ã¨tica, iciÃ¨ncia-ficciÃ³
published pages: 47-53, ISSN: 2174-9221, DOI: 10.7203/metode.9.12479
|MÃ¨tode Revista de difusiÃ³ de la investigaciÃ³ 9||2019-06-06|
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