{"id":"https://openalex.org/W2604272735","doi":"https://doi.org/10.1109/iros.2017.8206110","title":"Learning to navigate cloth using haptics","display_name":"Learning to navigate cloth using haptics","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2604272735","doi":"https://doi.org/10.1109/iros.2017.8206110","mag":"2604272735"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061853983","display_name":"Alexander Clegg","orcid":"https://orcid.org/0000-0002-0721-1367"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Clegg","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015524477","display_name":"Wenhao Yu","orcid":"https://orcid.org/0000-0001-8263-8224"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenhao Yu","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075365855","display_name":"Zackory Erickson","orcid":"https://orcid.org/0000-0002-6760-6213"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zackory Erickson","raw_affiliation_strings":["Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103241086","display_name":"Jie Tan","orcid":"https://orcid.org/0000-0002-7947-0333"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Tan","raw_affiliation_strings":["Google Brain, Google, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Brain, Google, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048338914","display_name":"C. Karen Liu","orcid":"https://orcid.org/0000-0001-5926-0905"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067456877","display_name":"Greg Turk","orcid":"https://orcid.org/0000-0002-3419-6369"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg Turk","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2799","last_page":"2805"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.898032546043396},{"id":"https://openalex.org/keywords/punching","display_name":"Punching","score":0.6800254583358765},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6534051299095154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6085308790206909},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5033785700798035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46228504180908203},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45557940006256104},{"id":"https://openalex.org/keywords/tearing","display_name":"Tearing","score":0.44022437930107117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3479379415512085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2708311080932617},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16431927680969238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07923990488052368}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.898032546043396},{"id":"https://openalex.org/C2778527123","wikidata":"https://www.wikidata.org/wiki/Q11750728","display_name":"Punching","level":2,"score":0.6800254583358765},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6534051299095154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6085308790206909},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5033785700798035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46228504180908203},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45557940006256104},{"id":"https://openalex.org/C2776097996","wikidata":"https://www.wikidata.org/wiki/Q2219270","display_name":"Tearing","level":2,"score":0.44022437930107117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3479379415512085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2708311080932617},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16431927680969238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07923990488052368},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1191599655","https://openalex.org/W1771410628","https://openalex.org/W1808898315","https://openalex.org/W1945252290","https://openalex.org/W1969865247","https://openalex.org/W1974305624","https://openalex.org/W1982920857","https://openalex.org/W2007724192","https://openalex.org/W2037709896","https://openalex.org/W2041108426","https://openalex.org/W2050806785","https://openalex.org/W2068872940","https://openalex.org/W2086410114","https://openalex.org/W2087627746","https://openalex.org/W2097197636","https://openalex.org/W2112961542","https://openalex.org/W2136354320","https://openalex.org/W2145339207","https://openalex.org/W2173248099","https://openalex.org/W2257979135","https://openalex.org/W2296073425","https://openalex.org/W2518803565","https://openalex.org/W2525325298","https://openalex.org/W2553530331","https://openalex.org/W2554984891","https://openalex.org/W2560940104","https://openalex.org/W2595090738","https://openalex.org/W2737170915","https://openalex.org/W2738522242","https://openalex.org/W2950492145","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W6692846177","https://openalex.org/W6734864387"],"related_works":["https://openalex.org/W2390233534","https://openalex.org/W2592107811","https://openalex.org/W2392184754","https://openalex.org/W2117001472","https://openalex.org/W1981691034","https://openalex.org/W1983838257","https://openalex.org/W2375713655","https://openalex.org/W2604650478","https://openalex.org/W2512300812","https://openalex.org/W2292720690"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,27,48,100,105,125,138,142,150,152],"controller":[3,28,43,98,157],"that":[4,73,167],"allows":[5],"an":[6,85,147],"armlike":[7],"manipulator":[8,56],"to":[9,30,95,119],"navigate":[10],"deformable":[11],"cloth":[12],"garments":[13],"in":[14],"simulation":[15],"through":[16,38,141],"the":[17,39,55,71,97,122,129,175],"use":[18],"of":[19,25,50,78,128,137,144],"haptic":[20,61],"information.":[21],"The":[22],"main":[23],"challenge":[24],"such":[26],"is":[29,81,93,108],"avoid":[31],"getting":[32],"tangled":[33],"in,":[34],"tearing":[35],"or":[36],"punching":[37],"deforming":[40],"cloth.":[41,130],"Our":[42,156],"aggregates":[44],"force":[45],"information":[46],"from":[47],"number":[49],"haptic-sensing":[51,102],"spheres":[52],"all":[53],"along":[54],"for":[57,99],"guidance.":[58],"Based":[59],"on":[60,171],"forces,":[62],"each":[63],"individual":[64],"sphere":[65,123,176],"updates":[66],"its":[67],"target":[68],"location,":[69],"and":[70,124,154,165,177],"conflicts":[72],"arise":[74],"between":[75,121,174],"this":[76],"set":[77],"desired":[79],"positions":[80],"resolved":[82],"by":[83],"solving":[84],"inverse":[86],"kinematic":[87],"problem":[88],"with":[89],"constraints.":[90],"Reinforcement":[91],"learning":[92],"used":[94],"train":[96],"single":[101],"sphere,":[103],"where":[104],"training":[106],"run":[107],"terminated":[109],"(and":[110],"thus":[111],"penalized)":[112],"when":[113],"large":[114,172],"forces":[115,173],"are":[116],"detected":[117],"due":[118],"contact":[120],"simplified":[126],"model":[127],"In":[131],"simulation,":[132],"we":[133],"demonstrate":[134],"successful":[135],"navigation":[136],"robotic":[139],"arm":[140],"variety":[143],"garments,":[145],"including":[146],"isolated":[148],"sleeve,":[149],"jacket,":[151],"shirt,":[153],"shorts.":[155],"out-performs":[158],"two":[159],"baseline":[160],"controllers:":[161],"one":[162],"without":[163,180],"haptics":[164],"another":[166],"was":[168],"trained":[169],"based":[170],"cloth,":[178],"but":[179],"early":[181],"termination.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
