“Animating human dressing” by Clegg, Tan, Turk and Liu

  • ©Alexander Clegg, Jie Tan, Greg Turk, and C. Karen Liu

Conference:


Type:


Title:

    Animating human dressing

Presenter(s)/Author(s):



Abstract:


    Dressing is one of the most common activities in human society. Perfecting the skill of dressing can take an average child three to four years of daily practice. The challenge is primarily due to the combined difficulty of coordinating different body parts and manipulating soft and deformable objects (clothes). We present a technique to synthesize human dressing by controlling a human character to put on an article of simulated clothing. We identify a set of primitive actions which account for the vast majority of motions observed in human dressing. These primitive actions can be assembled into a variety of motion sequences for dressing different garments with different styles. Exploiting both feed-forward and feedback control mechanisms, we develop a dressing controller to handle each of the primitive actions. The controller plans a path to achieve the action goal while making constant adjustments locally based on the current state of the simulated cloth when necessary. We demonstrate that our framework is versatile and able to animate dressing with different clothing types including a jacket, a pair of shorts, a robe, and a vest. Our controller is also robust to different cloth mesh resolutions which can cause the cloth simulator to generate significantly different cloth motions. In addition, we show that the same controller can be extended to assistive dressing.

References:


    1. Bai, Y., and Liu, C. K. 2014. Coupling cloth and rigid bodies for dexterous manipulation. In Proceedings of the Seventh International Conference on Motion in Games, ACM, New York, NY, USA, MIG ’14, 139–145. Google ScholarDigital Library
    2. Bai, Y., and Liu, C. K. 2014. Dexterous manipulation using both palm and fingers. In ICRA, IEEE, 1560–1565.Google Scholar
    3. Bersch, C., Pitzer, B., and Kammel, S. 2011. Bimanual robotic cloth manipulation for laundry folding. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, IEEE, 1413–1419.Google Scholar
    4. Cusumano-Towner, M., Singh, A., Miller, S., O’Brien, J. F., and Abbeel, P. 2011. Bringing clothing into desired configurations with limited perception. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, IEEE, 3893–3900.Google Scholar
    5. Fahantidis, N., Paraschidis, K., Petridis, V., Doulgeri, Z., Petrou, L., and Hasapis, G. 1997. Robot handling of flat textile materials. IEEE Robot. Automat. Mag 4, 1, 34–41.Google ScholarCross Ref
    6. Gleicher, M. 1998. Retargetting motion to new characters. In Proceedings of the 25th Annual Conference on Computer Graphics and Interactive Techniques, ACM, New York, NY, USA, SIGGRAPH ’98, 33–42. Google ScholarDigital Library
    7. Harada, K., Kajita, S., Kaneko, K., and Hirukawa, H. 2003. Pushing manipulation by humanoid considering two-kinds of ZMPs. In IEEE International Conference on Robotics and Automation, vol. 2, 1627–1632.Google Scholar
    8. Harmon, D., Vouga, E., Tamstorf, R., and Grinspun, E. 2008. Robust treatment of simultaneous collisions. ACM Trans. Graph. 27, 3 (Aug.), 23:1–23:4. Google ScholarDigital Library
    9. Ho, E. S. L., and Komura, T. 2009. Character motion synthesis by topology coordinates. Comput. Graph. Forum 28, 2, 299–308.Google ScholarCross Ref
    10. Ho, E. S. L., Komura, T., and Tai, C.-L. 2010. Spatial relationship preserving character motion adaptation. ACM Trans. Graph. 29, 4 (July), 33:1–33:8. Google ScholarDigital Library
    11. Jansson, J., and Vergeest, J. S. M. 2003. Combining deformable- and rigid-body mechanics simulation. The Visual Computer 19, 5, 280–290.Google ScholarDigital Library
    12. Kallmann, M., Aubel, A., Abaci, T., and Thalmann, D. 2003. Planning collision-free reaching motions for interactive object manipulation and grasping. Comput. Graph. Forum 22, 3, 313–322.Google ScholarCross Ref
    13. Kim, M., Hyun, K., Kim, J., and Lee, J. 2009. Synchronized multi-character motion editing. ACM Trans. Graph. 28, 3 (July), 79:1–79:9. Google ScholarDigital Library
    14. Kosuge, K., Yoshida, H., Fukuda, T., Sakai, M., and Kanitani, K. 1995. Manipulation of a flexible object by dual manipulators. In Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, vol. 1, IEEE, 318–323.Google Scholar
    15. Kry, P. G., and Pai, D. K. 2006. Interaction capture and synthesis. ACM Trans. Graph. 25, 3 (July), 872–880. Google ScholarDigital Library
    16. Lavalle, S. M., and Kuffner, J. J. 2001. Randomized kinodynamic planning. I. J. Robotic Res. 20, 5, 378–400.Google ScholarCross Ref
    17. Liu, C. K., and Jain, S. 2012. A short tutorial on multibody dynamics. Tech. Rep. GIT-GVU-15-01-1, Georgia Institute of Technology, School of Interactive Computing, 08.Google Scholar
    18. Liu, C. K., Hertzmann, A., and Popović, Z. 2006. Composition of complex optimal multi-character motions. In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA ’06, 215–222. Google ScholarDigital Library
    19. Macklin, M., Müller, M., Chentanez, N., and Kim, T.-Y. 2014. Unified particle physics for real-time applications. ACM Transactions on Graphics (TOG) 33, 4, 153. Google ScholarDigital Library
    20. Miguel, E., and Otaduy, M. A. 2011. Efficient simulation of contact between rigid and deformable objects. In Multibody Dynamics, ECCOMAS Thematic Conference.Google Scholar
    21. Miller, S., Van Den Berg, J., Fritz, M., Darrell, T., Goldberg, K., and Abbeel, P. 2012. A geometric approach to robotic laundry folding. The International Journal of Robotics Research 31, 2, 249–267. Google ScholarDigital Library
    22. Narain, R., Samii, A., and O’Brien, J. F. 2012. Adaptive anisotropic remeshing for cloth simulation. ACM Trans. Graph. 31, 6 (Nov.), 152:1–152:10. Google ScholarDigital Library
    23. Narain, R., Pfaff, T., and O’Brien, J. F. 2013. Folding and crumpling adaptive sheets. ACM Trans. Graph. 32, 4 (July), 51:1–51:8. Google ScholarDigital Library
    24. Nishiwaki, K., Yoon, W.-K., and Kagami, S. 2006. Motion control system that realizes physical interaction between robot’s hands and environment during walk. In International Conference on Humanoid Robots, 542–547.Google Scholar
    25. Osawa, F., Seki, H., and Kamiya, Y. 2007. Unfolding of massive laundry and classification types by dual manipulator. JACIII 11, 5, 457–463.Google ScholarCross Ref
    26. Otaduy, M. A., Tamstorf, R., Steinemann, D., and Gross, M. H. 2009. Implicit contact handling for deformable objects. Comput. Graph. Forum 28, 2, 559–568.Google ScholarCross Ref
    27. Pollard, N. S., and Zordan, V. B. 2005. Physically based grasping control from example. In Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA ’05, 311–318. Google ScholarDigital Library
    28. Shinar, T., Schroeder, C., and Fedkiw, R. 2008. Two-way coupling of rigid and deformable bodies. In Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA ’08, 95–103. Google ScholarDigital Library
    29. Sifakis, E., Shinar, T., Irving, G., and Fedkiw, R. 2007. Hybrid simulation of deformable solids. In Proceedings of the 2007 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA ’07, 81–90. Google ScholarDigital Library
    30. Takubo, T., Inoue, K., and Arai, T. 2005. Pushing an object considering the hand reflect forces by humanoid robot in dynamic walking. In IEEE International Conference on Robotics and Automation, 1706–1711.Google Scholar
    31. Tamei, T., Matsubara, T., Rai, A., and Shibata, T. 2011. Reinforcement learning of clothing assistance with a dual-arm robot. In Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, IEEE, 733–738.Google Scholar
    32. Tang, M., Manocha, D., and Tong, R. 2010. Fast continuous collision detection using deforming non-penetration filters. In Proceedings of the 2010 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, I3D ’10, 7–13. Google ScholarDigital Library
    33. Wang, H., and Komura, T. 2012. Manipulation of flexible objects by geodesic control. In Computer Graphics Forum, vol. 31, Wiley Online Library, 499–508. Google ScholarDigital Library
    34. Wang, H., Ramamoorthi, R., and O’Brien, J. F. 2011. Data-driven elastic models for cloth: Modeling and measurement. ACM Transactions on Graphics 30, 4 (July), 71:1–11. Proceedings of ACMSIGGRAPH 2011, Vancouver, BC Canada. Google ScholarDigital Library
    35. Wang, H., Sidorov, K. A., Sandilands, P., and Komura, T. 2013. Harmonic parameterization by electrostatics. ACM Trans. Graph. 32, 5 (Oct.), 155:1–155:12. Google ScholarDigital Library
    36. Wang, Y., Min, J., Zhang, J., Liu, Y., Xu, F., Dai, Q., and Chai, J. 2013. Video-based hand manipulation capture through composite motion control. ACM Trans. Graph. 32, 4 (July), 43:1–43:14. Google ScholarDigital Library
    37. Wu, J., Luo, Z., Yamakita, M., and Ito, K. 1995. Adaptive hybrid control of manipulators on uncertain flexible objects. Advanced robotics 10, 5, 469–485.Google Scholar
    38. Yamane, K., Kuffner, J. J., and Hodgins, J. K. 2004. Synthesizing animations of human manipulation tasks. ACM Trans. Graph. 23, 3 (Aug.), 532–539. Google ScholarDigital Library
    39. Ye, Y., and Liu, C. K. 2012. Synthesis of detailed hand manipulations using contact sampling. ACM Trans. Graph. 31, 4 (July), 41:1–41:10. Google ScholarDigital Library
    40. Yoshida, E., Belousov, I., Esteves, C., and Laumond, J.-P. 2005. Humanoid motion planning for dynamic tasks. In IEEE International Conference on Humanoid Robotics.Google Scholar
    41. Zhao, W., Zhang, J., Min, J., and Chai, J. 2013. Robust realtime physics-based motion control for human grasping. ACM Trans. Graph. 32, 6 (Nov.), 207:1–207:12. Google ScholarDigital Library


ACM Digital Library Publication: