Insights for robotic cloth manipulation : a comprehensive analysis of a competition-winning system
- Author
- Victor-Louis De Gusseme (UGent) , Remko Proesmans (UGent) , Thomas Lips (UGent) , Andreas Verleysen (UGent) and Francis wyffels (UGent)
- Organization
- Project
- Abstract
- Robotic cloth manipulation will be important for assistive robots. To thoroughly evaluate progress in this field, a Cloth Manipulation and Perception Competition was organised at IROS 2022 and ICRA 2023. In this article, we present the system that won the folding track at IROS 2022 and the folding and unfolding tracks at ICRA 2023. By combining visual and tactile information with engineered motions, we built a system that can generalise to a range of patterned towels made from various materials, as required for the competition. We describe our system and its limitations, which we relate to future work with the goal of creating systems that can deal with any cloth, robot, or surface.
- Keywords
- Cloth manipulation, tactile sensing, dual-arm manipulation, household, robotics, benchmarking, BENCHMARKING
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01JPHSSBZA5EVZXJ7B1A87CSHB
- MLA
- De Gusseme, Victor-Louis, et al. “Insights for Robotic Cloth Manipulation : A Comprehensive Analysis of a Competition-Winning System.” INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, vol. 22, no. 2, 2025, doi:10.1177/17298806251322.
- APA
- De Gusseme, V.-L., Proesmans, R., Lips, T., Verleysen, A., & wyffels, F. (2025). Insights for robotic cloth manipulation : a comprehensive analysis of a competition-winning system. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 22(2). https://doi.org/10.1177/17298806251322
- Chicago author-date
- De Gusseme, Victor-Louis, Remko Proesmans, Thomas Lips, Andreas Verleysen, and Francis wyffels. 2025. “Insights for Robotic Cloth Manipulation : A Comprehensive Analysis of a Competition-Winning System.” INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 22 (2). https://doi.org/10.1177/17298806251322.
- Chicago author-date (all authors)
- De Gusseme, Victor-Louis, Remko Proesmans, Thomas Lips, Andreas Verleysen, and Francis wyffels. 2025. “Insights for Robotic Cloth Manipulation : A Comprehensive Analysis of a Competition-Winning System.” INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 22 (2). doi:10.1177/17298806251322.
- Vancouver
- 1.De Gusseme V-L, Proesmans R, Lips T, Verleysen A, wyffels F. Insights for robotic cloth manipulation : a comprehensive analysis of a competition-winning system. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. 2025;22(2).
- IEEE
- [1]V.-L. De Gusseme, R. Proesmans, T. Lips, A. Verleysen, and F. wyffels, “Insights for robotic cloth manipulation : a comprehensive analysis of a competition-winning system,” INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, vol. 22, no. 2, 2025.
@article{01JPHSSBZA5EVZXJ7B1A87CSHB,
abstract = {{Robotic cloth manipulation will be important for assistive robots. To thoroughly evaluate progress in this field, a Cloth Manipulation and Perception Competition was organised at IROS 2022 and ICRA 2023. In this article, we present the system that won the folding track at IROS 2022 and the folding and unfolding tracks at ICRA 2023. By combining visual and tactile information with engineered motions, we built a system that can generalise to a range of patterned towels made from various materials, as required for the competition. We describe our system and its limitations, which we relate to future work with the goal of creating systems that can deal with any cloth, robot, or surface.}},
articleno = {{17298806251322582}},
author = {{De Gusseme, Victor-Louis and Proesmans, Remko and Lips, Thomas and Verleysen, Andreas and wyffels, Francis}},
issn = {{1729-8806}},
journal = {{INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS}},
keywords = {{Cloth manipulation,tactile sensing,dual-arm manipulation,household,robotics,benchmarking,BENCHMARKING}},
language = {{eng}},
number = {{2}},
pages = {{10}},
title = {{Insights for robotic cloth manipulation : a comprehensive analysis of a competition-winning system}},
url = {{http://doi.org/10.1177/17298806251322}},
volume = {{22}},
year = {{2025}},
}
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