Plenary Lecture - Modeling cloth deformation using geometric constraints for dynamic robotic manipulation

Abstract: We present a geometrically grounded approach to modeling cloth deformation for dynamic robotic manipulation. The model represents textiles as inextensible surfaces and efficiently handles contacts, self-collisions, and interactions with rigid objects. We extend this framework to account for aerodynamic effects during fast motions and validate it against real cloth using motion-capture data. The resulting simulator provides accurate and computationally efficient predictions of dynamic cloth behaviour, enabling reliable sim-to-real transfer of robotic manipulation motions. We discuss how geometric constraints, physical modeling, and experimental data can be combined to bridge the gap between cloth simulation and real-world robotic manipulation.

Speaker: Maria Alberich Carraminana  (Universitat Politècnica de Catalunya)
Co-Authors: Franco Coltraro (CSIC), Carme Torras (CSIC), Jaume Amorós (Universitat Politècnica de Catalunya)

Date and Time: Tuesday, September 29, 2026 | 14:30 - 15:30
Venue: NTI Lecture Hall