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Enabling garment-agnostic laundry tasks for a Robot Household Companion

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorEstévez Fernández, David
dc.contributor.authorGonzález Víctores, Juan Carlos
dc.contributor.authorFernández Fernández, Raúl
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2021-07-19T12:33:38Z
dc.date.available2022-01-01T00:00:04Z
dc.date.issued2020-01
dc.description.abstractDomestic 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.sponsorshipThis 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.extent13
dc.identifier.bibliographicCitationEstevez, 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.doihttps://doi.org/10.1016/j.robot.2019.103330
dc.identifier.issn0921-8890
dc.identifier.publicationfirstpage103330
dc.identifier.publicationtitleRobotics and Autonomous Systemsen
dc.identifier.publicationvolume123
dc.identifier.urihttps://hdl.handle.net/10016/33108
dc.identifier.uxxiAR/0000025493
dc.language.isoeng
dc.publisherElsevieren
dc.relation.projectIDComunidad de Madrid. S2013/MIT-2748es
dc.rights© 2019 Elsevier B.V.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherComputer visionen
dc.subject.otherDeformable objectsen
dc.subject.otherForce/Torque controlen
dc.subject.otherGarmentsen
dc.subject.otherIroningen
dc.subject.otherRoboticsen
dc.titleEnabling garment-agnostic laundry tasks for a Robot Household Companionen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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