CloPeMa workshop at euRobotics

euRobotics Forum 2014

CloPeMa organises workshop at euRobotics Forum 2014: 

Dexterous Robotic Manipulation Systems for Clothing and Flexible Materials

Where: euRobotics Forum 2014 (Rovereto, Italy held during 12th – 14th March)

When:  13 March, 13:30-18:00

Organizers: Dr Gerardo Aragon-Camarasa, Dr Paul W. Cockshott, Susanne Oehler, Dr J. Paul Siebert

Overview: International experts will present the current state-of-the-art in systems for robotic manipulation of flexible materials. The workshop will address the challenges found in sensing, perception, cognition, planning and handling, as well as manipulator design. Expertise and capability in dexterous manipulation of flexible materials being of critical importance to EU manufacturing robotics, this workshop is intended to serve as a forum to identify key unsolved problems in this field. We also intend this workshop to act as a catalyst for forming new collaborations targeting Horizon 2020 robotics funding.

Follow links these links for details of the euRobotics Forum, full programme and registration.

Worskshop Programme:

13.30 Introduction by the Chair:  Dr W. Paul Cockshott, University of Glasgow, UK

13.50 Presentations I

  • Byphasic fluid variable stiffness actuation and tactile sensing in a flexible hand for manipulation of garments: Dr Matteo Zoppi/Prof. Giorgio  Cannata, University of Genoa, Italy
  • Autonomous unfolding of garments: Dr Sotiris Malassiotis, University of Thessaloniki, Greece
  • A unified computational framework for prosthetic manipulation: Prof. Hongai Liu, University of Portsmouth, UK
  • Understanding, dual-arm folding of a piece of garment on the CloPeMa test bed: Prof. Vaclav Hlavac, Czech Technical University, Czech Republic

15:30 Coffee & Networking

16:00 Presentations II

  • Mechanisms of the human hand, and how to emulate them: Dr Nick Hockings, University of Bath, UK
  • Algorithms for nonrigid object reconstruction and recognition: Dr Francesc Moreno, Institut de Robòtica i Informàtica Industrial, Spain
  • Active Binocular Range Sensing and Interpretation for Clothing Manipulation: Dr Gerardo Aragon-Camarasa, University of Glasgow, UK
  • The Shadow Dexterous Hand: Rich Walker, The Shadow Robot Company, UK

17:40 Discussion

18:00 Close

ICRA 2014 Workshop

Come and see CloPeMa at ICRA 2014!

A CloPeMa team will run an ICRA Workshop on Advances in Robot Manipulation of Clothes and Flexible Objects on 1st June 2014 in Hong Kong. The problem of manipulating and handling deformable and flexible objects is a great challenge in the development of robots capable of performing actions usually carried out by humans. It holds a great variety of technical challenges in new and advanced modelling, sensing, actuation planning and control technologies.

This ICRA workshop is aimed at the aspects related to the manipulation of flexible objects in the areas of: vision, planning, grasping, manipulation and interaction control, haptics, human-robot interaction, cognitive robotics, AI and others.  It will, for instance, address technological aspects such as gripper design for advanced manipulation of flexible objects and visual and touch based coordinated robot control for execution of complex tasks. Furthermore it will give detailed insights into the cognitive, sensing and modelling issues in manipulation of flexible objects and is a chance to hear about and discuss the latest advancements.

The ICRA workshop is a great opportunity to meet and talk to the experts, such as, Sotiris Malassiotis, Vaclav Hlavak, Giorgio Cannata, Andreas Doumanoglou and other CloPeMa members. Register here.

Also the paper Autonomous Active Recognition and Unfolding of Clothes using Random Decision Forests and Probabilistic Planning will be presented in the main conference. Authors: Andreas Doumanoglou, Andreas Kargakos, Tae-Kyun Kim, Sotiris Malassiotis

CloPeMa Glasgow participated at SICSA Demofest’13

Dr. Gerardo Aragon Camarasa at the CloPeMa stand, SICSA Demofest'13

Dr. Gerardo Aragon Camarasa at the CloPeMa stand, SICSA Demofest’13


CloPeMa Glasgow presented the CloPeMa project at the SICSA Demofest’13.

We had the great opportunity to present our research to a variety of industry partners on the 5th of November 2013, at the SICSA Demofest. SICSA stands for Scottish Informatics and Computer Science Alliance, who created the Demofest as an event to introduce industry to ongoing academic research. It is a chance to find industry partners who are interested in investing and collaborating in cutting edge research around the country.

Glasgow Stereo Image Database of Garments has been released !!!

The new Glasgow Stereo Image Database of Garments is now available online for download!

Cosine shaded masked cardigan range image.

Cosine shaded masked cardigan range image.

The Glasgow Stereo Image Database of Garments is a collection of 80 stereo-pair colour images of garments with corresponding horizontal and vertical disparity maps and mask annotations. This database is based on 16 different off-the-shelve garments. Each garment has been imaged in five different pose configurations using the CloPeMa active binocular robot head. The aim of this database is to serve as a benchmark tool for algorithms for recognition, segmentation and various range image properties of non-rigid objects.

For information, please visit:

Alpha version of Vector Pascal for the Xeon Phi now released

Alpha version of Vector Pascal for the Xeon Phi now released on SourceForge ( for the Intel MIC (Xeon Phi)

The compiler works as a cross compiler on the host machine. The compiler flag you must use is -cpuMIC to generate code for it. You need to have the Intel MPSS package installed and you need to set up a pair of symbolic links on your path to the MIC assembler and MIC gcc compilers. The Pascal compiler expects a MIC version of the GNU assembler to be on its path with the name mic-as and a mic version of the gcc compiler with the name mic-gcc.

At present it supports multi-core operations but does not yet exploit the new MIC SIMD instructions. We expect to release on supporting SIMD in a month or two.

There were difficulties encountered due to the absence of detailed documentation for the assembler Intel release for the chip. It was a matter of trial and error to discover its syntax. At least one bug exists in the version of the assembler we got : it generates the wrong code in one instance.

Beyond this many of the instructions that Intel introduced since the original Pentium have been deleted which caused some problems, we have had to revert for this processor to very basic IA-64 instructions. In particular there is no truncate instruction, no conditional move instructions and some restrictions on stack addressing. The absence of a truncate instruction means we have had to revert to using a subroutine for this operation.

Sliding the gripper under the garment

Demonstration of the gripper functionality. The gripper is provided by flexible element which allows finger flexible moving. When the fingers touch desk of the table, the finger flexible moves back. The finger push down on the desk by force correspond to 20N / 10mm. Flexible finger allow us follow the desk of the table and grasping garment lying on the table.