期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 123, 期 -, 页码 -出版社
ELSEVIER
DOI: 10.1016/j.robot.2019.103330
关键词
Robotics; Computer vision; Ironing; Garments; Deformable objects; Force/torque control
资金
- RoboCity2030-III-CM project - Programas de Actividades I+D in Comunidad de Madrid, Spain [S2013/MIT-2748]
- EU
- FPU grant - Ministerio de Educacion, Cultura y Deporte, Spain
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. (C) 2019 Elsevier B.V. All rights reserved.
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