QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
David Blanco-Mulero,Gokhan Alcan,Fares J. Abu-Dakka,Ville Kyrki,David Blanco-Mulero,Gokhan Alcan,Fares J. Abu-Dakka,Ville Kyrki
Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these primitives. Although existing solutions have tackled the parameterisation of pick and place locations, the effect of factors such as the velocity or trajectory of quasi-static and dynamic manipulation primitives has been n...
