Model Predictive Control with Graph Dynamics for Garment Opening Insertion during Robot-Assisted Dressing
Stelios Kotsovolis,Yiannis Demiris,Stelios Kotsovolis,Yiannis Demiris
Robots have a great potential to help people with movement limitations in activities of daily living, such as dressing. A common problem in almost all dressing tasks is the insertion of a garment’s opening around a part of the human body. The rich contact environment and the deformations of the garment make the task a challenging problem for robots. In this paper, we propose a bi-manual control me...
