modeling garments' dynamics using differential geometry constraints.
Example simulations showing the ability of the simulator to handle non-trivial mesh topologies, contacts, friction and self-collisions.
Some theory behind the model
The main idea of our simulator is to model cloth as an inextensible surface moving through space \(S\subset\mathbb{R}^3\), meaning that we have a family of time-varying surfaces \(\{S_t\}_{t\geq 0}\) isometric to \(S = S_0\). This implies that every curve inside the surface mantains its lenght in time (see the figure bellow).
The curve connecting A and B mantains its lenght when we deform the surface isometrically.
This can be expressed mathematically as imposing that the first fundamental form of \(S\) be constant in time. For more details about the modeling and discretization of inextensibility, see (Coltraro et al., 2022). For details about how to include contacts, (self)collisions and friction into the model, see (Coltraro et al., 2024).
Comparisons with real recordings of textiles
Experimental validation of the cloth model against real motions of textiles as captured by a MoCap system.
Application of the model for robotic manipulation
A dynamic flattening motion is designed in simulation and then successfully executed by a robot without any fine-tuning or modification. The outcome, a smooth and rapid laying of the real textiles, demonstrates the minimal sim-to-real gap of our model even when aerodynamics plays a leading role. For more details, see (Coltraro et al., 2025).
Video demonstration of the manipulation with four different fabrics.
Code
Python implementation coming soon!
References
2025
A practical aerodynamic model for dynamic textile manipulation in robotics
Franco Coltraro, Jaume Amorós , Carme Torras , and 1 more author
@article{aerodynamicsMMT,title={A practical aerodynamic model for dynamic textile manipulation in robotics},journal={Mechanism and Machine Theory},volume={209},pages={105993},year={2025},issn={0094-114X},doi={https://doi.org/10.1016/j.mechmachtheory.2025.105993},url={https://www.sciencedirect.com/science/article/pii/S0094114X25000825},author={Coltraro, Franco and Amorós, Jaume and Torras, Carme and Alberich-Carramiñana, Maria},keywords={Aerodynamics, Cloth manipulation, Simulation, Robotics, Sim-to-real gap},}
2024
A novel collision model for inextensible textiles and its experimental validation
Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author
@article{CollisionsAMM,title={A novel collision model for inextensible textiles and its experimental validation},journal={Applied Mathematical Modelling},volume={128},pages={287-308},year={2024},issn={0307-904X},doi={https://doi.org/10.1016/j.apm.2024.01.030},url={https://www.sciencedirect.com/science/article/pii/S0307904X24000295},author={Coltraro, Franco and Amorós, Jaume and Alberich-Carramiñana, Maria and Torras, Carme},keywords={Inextensible cloth, Collision modeling, Coloumb friction, Experimental validation, Constrained optimization},}
2022
An inextensible model for the robotic manipulation of textiles
Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author
@article{InextensibleAMM,title={An inextensible model for the robotic manipulation of textiles},journal={Applied Mathematical Modelling},volume={101},pages={832-858},year={2022},issn={0307-904X},doi={https://doi.org/10.1016/j.apm.2021.09.013},author={Coltraro, Franco and Amor\'os, Jaume and Alberich-Carrami\~{n}ana, Maria and Torras, Carme},keywords={Inextensible cloth, FEM Simulation, Physical modeling, Experimental validation, Robotic manipulation},}
