Publication: Enabling garment-agnostic laundry tasks for a Robot Household Companion
dc.affiliation.dpto | UC3M. Departamento de Ingeniería de Sistemas y Automática | es |
dc.affiliation.grupoinv | UC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab) | es |
dc.contributor.author | Estévez Fernández, David | |
dc.contributor.author | González Víctores, Juan Carlos | |
dc.contributor.author | Fernández Fernández, Raúl | |
dc.contributor.author | Balaguer Bernaldo de Quirós, Carlos | |
dc.contributor.funder | Comunidad de Madrid | es |
dc.date.accessioned | 2021-07-19T12:33:38Z | |
dc.date.available | 2022-01-01T00:00:04Z | |
dc.date.issued | 2020-01 | |
dc.description.abstract | Domestic chores, such as laundry tasks, are dull and repetitive. These tasks consume a significant amount of daily time, and are however unavoidable. Additionally, a great portion of elder and disabled people require help to perform them due to lack of mobility. In this work we present advances towards a Robot Household Companion (RHC), focusing on the performance of two particular laundry tasks: unfolding and ironing garments. Unfolding is required to recognize the garment prior to any later folding operation. For unfolding, we apply an interactive algorithm based on the analysis of a colored 3D reconstruction of the garment. Regions are clustered based on height, and a bumpiness value is computed to determine the most suitable pick and place points to unfold the overlapping region. For ironing, a custom Wrinkleness Local Descriptor (WiLD) descriptor is applied to a 3D reconstruction to find the most significant wrinkles in the garment. These wrinkles are then ironed using an iterative path-following control algorithm that regulates the amount of pressure exerted on the garment. Both algorithms focus on the feasibility of a physical implementation in real unmodified environments. A set of experiments to validate the algorithms have been performed using a full-sized humanoid robot. | en |
dc.description.sponsorship | This work was supported by RoboCity2030-III-CM project (S2013/MIT-2748), funded by Programas de Actividades I+D in Comunidad de Madrid, Spain and EU and by a FPU grant funded by Ministerio de Educación, Cultura y Deporte, Spain. It was also supported by the anonymous donor of a red hoodie used in our initial trials. We gratefully acknowledge the support of NVIDIA, United States Corporation with the donation of the NVIDIA Titan X GPU used for this research. | en |
dc.format.extent | 13 | |
dc.identifier.bibliographicCitation | Estevez, D., Victores, J. G., Fernandez-Fernandez, R. & Balaguer, C. (2020). Enabling garment-agnostic laundry tasks for a Robot Household Companion. Robotics and Autonomous Systems, vol. 123, 103330. | en |
dc.identifier.doi | https://doi.org/10.1016/j.robot.2019.103330 | |
dc.identifier.issn | 0921-8890 | |
dc.identifier.publicationfirstpage | 103330 | |
dc.identifier.publicationtitle | Robotics and Autonomous Systems | en |
dc.identifier.publicationvolume | 123 | |
dc.identifier.uri | https://hdl.handle.net/10016/33108 | |
dc.identifier.uxxi | AR/0000025493 | |
dc.language.iso | eng | |
dc.publisher | Elsevier | en |
dc.relation.projectID | Comunidad de Madrid. S2013/MIT-2748 | es |
dc.rights | © 2019 Elsevier B.V. | en |
dc.rights | Atribución-NoComercial-SinDerivadas 3.0 España | * |
dc.rights.accessRights | open access | en |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ | * |
dc.subject.eciencia | Robótica e Informática Industrial | es |
dc.subject.other | Computer vision | en |
dc.subject.other | Deformable objects | en |
dc.subject.other | Force/Torque control | en |
dc.subject.other | Garments | en |
dc.subject.other | Ironing | en |
dc.subject.other | Robotics | en |
dc.title | Enabling garment-agnostic laundry tasks for a Robot Household Companion | en |
dc.type | research article | * |
dc.type.hasVersion | AM | * |
dspace.entity.type | Publication |
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