Modeling of Dynamic Fabric Motion Using Multiple Oriented Bounding Boxes
Published:
L. Li1, 3, F. Tokuda1, 2, A. Seino1, 2, A. Kobayashi1, 2, N. C. Tien1, 2, K. Kosuge1, 2, 3
1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR
Published in 2025 IEEE International Conference on Mechatronics and Automation (ICMA), (2025)
DOI: 10.1109/ICMA65362.2025.11120544
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- Abstract
- Motion planning is the first step when we use a robot to move an object to its goal position. Dynamic fabric motion modeling is essential when a robot handles a piece of fabric in the garment manufacturing process. In this paper, we propose a dynamic fabric motion modeling method using evenly segmented multiple oriented bounding boxes (ES-MOBB) in 3D space. ES-MOBB are computed based on the 3D fabric point cloud captured by a depth camera. Then, the dynamic fabric motion is modeled and predicted as a time series of ES-MOBB using ES-MOBB-Transformer. Experiments are conducted to evaluate the performance of the proposed scheme.