Enabling garment-agnostic laundry tasks for a Robot Household Companion

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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.date.accessioned 2021-07-19T12:33:38Z
dc.date.available 2022-01-01T00:00:04Z
dc.date.issued 2020-01
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.
dc.identifier.issn 0921-8890
dc.identifier.uri http://hdl.handle.net/10016/33108
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.
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.
dc.format.extent 13
dc.language.iso eng
dc.publisher Elsevier
dc.rights © 2019 Elsevier B.V.
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Computer vision
dc.subject.other Deformable objects
dc.subject.other Force/Torque control
dc.subject.other Garments
dc.subject.other Ironing
dc.subject.other Robotics
dc.title Enabling garment-agnostic laundry tasks for a Robot Household Companion
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1016/j.robot.2019.103330
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2013/MIT-2748
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 103330
dc.identifier.publicationtitle Robotics and Autonomous Systems
dc.identifier.publicationvolume 123
dc.identifier.uxxi AR/0000025493
dc.contributor.funder Comunidad de Madrid
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