Folding algorithms and mechanisms synthesis for robotic ironing

Dai, Jian S.; Taylor, Paul; Liu, Honghai; Lin, Huei-Yung

doi:10.1108/09556220410520487

Cited by 14 publications

(5 citation statements)

References 37 publications

(27 reference statements)

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“…They looked at a task complexity, its function, and the type of safety rules that can be applied. However, thinking of a domestic companion, some household tasks that seemed simple such as ironing have proven to be complex to execute [21], as Dai, Tay- Simplified schematics of the mental process behind planning a specific action [16].…”

Section: What Is the Difference Between A Task High In Criticality Anmentioning

confidence: 99%

How does peoples’ perception of control depend on the criticality of a task performed by a robot

Chanseau

Dautenhahn

Koay

et al. 2019

Paladyn, Journal of Behavioral Robotics

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Robot companions are starting to become more common and people are becoming more familiar with devices such as Google Home, Alexa or Pepper, one must wonder what is the optimum way for people to control their devices? This paper presents an investigation into how much direct control people want to have of their robot companion and how dependent this is on the criticality of the tasks the robot performs. A live experiment was conducted in the University of Hertfordshire Robot House, with a robot companion performing four different type of tasks. The four tasks were: booking a doctor’s appointment, helping the user to build a Lego character, doing a dance with the user, and carrying biscuits for the user. The selection of these tasks was based on our previous research to define tasks which were relatively high and low in criticality. The main goal of the study was to find what level of direct control over their robot participants have, and if this was dependent on the criticality of the task performed by the robot. Fifty people took part in the study, and each experienced every task in a random order. Overall, it was found that participants’ perception of control was higher when the robot was performing a task in a semi-autonomous mode. However, for the task “carrying biscuits”, although participants perceived to be more in control with the robot performing the task in a semi-autonomous mode, they actually preferred to have the robot performing the task automatically (where they felt less in control). The results also show that, for the task “booking a doctor’s appointment”, considered to be the most critical of all four tasks, participants did not prefer that the robot chose the date of the appointment as they felt infantilised.

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Section: What Is the Difference Between A Task High In Criticality Anmentioning

confidence: 99%

How does peoples’ perception of control depend on the criticality of a task performed by a robot

Chanseau

Dautenhahn

Koay

et al. 2019

Paladyn, Journal of Behavioral Robotics

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“…For each region, in terms of the size and shape, an ironing plan is automatically generated. Dai et al also addressed the ironing problem considering the folding lines [2]. Figure 3 shows some examples of robotic ironing.…”

Section: Related Workmentioning

confidence: 99%

Multi-sensor surface analysis for robotic ironing

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to remove all the major wrinkles by a robot. We present a novel solution to analyze the cloth surface by fusing two surface scan techniques: a curvature scan and a discontinuity scan. The curvature scan can estimate the height deviation of the cloth surface, while the discontinuity scan can effectively detect sharp surface features, such as wrinkles. We use this information to detect the regions that need to be pulled and extended before ironing, and the other regions where we want to detect wrinkles and apply ironing to remove the wrinkles. We demonstrate that our hybrid scan technique is able to capture and classify wrinkles over the surface robustly. Given detected wrinkles, we enable a robot to iron them using shape features. Experimental results show that using our wrinkle analysis algorithm, our robot is able to iron the cloth surface and effectively remove the wrinkles.

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“…However, literature on robotic ironing is scarce, especially in the domain of real robotic platforms. The EPSRC grant "A Feasibility Study into Robotic Ironing" from the past decade resulted in a number of theoretical analysis, such as a study on algorithms for folding and unfolding garments as well as contemporary robotic gripper solutions that could be of aid during the ironing task [7], and a mathematical model of an ironing All of the authors are members of the Robotics Lab research group within the Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M). destevez@ing.uc3m.es path derived from a protractor-and-tracing-paper tracking of a human demonstration [8].…”

Section: Introductionmentioning

confidence: 99%

Robotic ironing with 3D perception and force/torque feedback in household environments

Estevez

Victores

Fernandez-Fernandez

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented algorithm improves on the limited number of previous works by joining 3D perception with force/torque sensing, with emphasis on finding a practical solution with a feasible implementation in a domestic setting. Our algorithm obtains a point cloud representation of the working environment. From this point cloud, the garment is segmented and a custom Wrinkleness Local Descriptor (WiLD) is computed to determine the location of the present wrinkles. Using this descriptor, the most suitable ironing path is computed and, based on it, the manipulation algorithm performs the force-controlled ironing operation. Experiments have been performed with a humanoid robot platform, proving that our algorithm is able to detect successfully wrinkles present in garments and iteratively reduce the wrinkleness using an unmodified iron.

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Folding algorithms and mechanisms synthesis for robotic ironing

Cited by 14 publications

References 37 publications

How does peoples’ perception of control depend on the criticality of a task performed by a robot

How does peoples’ perception of control depend on the criticality of a task performed by a robot

Multi-sensor surface analysis for robotic ironing

Robotic ironing with 3D perception and force/torque feedback in household environments

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