Planning Strategy for Task of Unfolding Clothes(Isolation of Clothes from Washed Mass).

Hamajima, Kyoko; Kakikura, Masayoshi

doi:10.1299/kikaic.63.967

Cited by 9 publications

(7 citation statements)

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“…Thus, wrinkle-centered approaches are suitable alternatives to the region-oriented approaches above. This was already the perspective taken in Hamajima and Kakikura (1996), via 2D image analysis technique plus height measuring with lateral cameras. The advent of range cameras, as mentioned at the end of Section 2.1, paves the way to such approaches even more, by providing directly a full 3D description of the wrinkles.…”

Section: Generic Grasping Point Selection (Ggps)mentioning

confidence: 99%

Perception of cloth in assistive robotic manipulation tasks

Jiménez

Torras

2020

Nat Comput

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Assistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing assistance to disabled users. Due to the deformable nature of fabrics, this manipulation requires a strong perceptual feedback. Common perceptual skills that enable robots to complete their cloth manipulation tasks are reviewed here, mainly relying on vision, but also resorting to touch and force. The use of such basic skills is then examined in the context of the different cloth manipulation tasks, be them garment-only applications in the line of performing domestic chores, or involving physical contact with a human as in dressing assistance. Keywords Robotic assistance • Robotic cloth manipulation • Perception of cloth 1 IntroductionRobots perform quite competently nowadays in structured environments, tackling hard tasks under tough working conditions, and even handling incidences that could be anticipated. The requirements posed by assistive settings, however, point in a quite different direction. The top concerns are no longer precision and repeatability, but rather a high degree of adaptability to varying ambient conditions, ability to learn, multimodal human-robot interaction capabilities, and integrated safety. It is obvious that robots cannot replace humans entirely in assistive environments, probably they shouldn't either. Nonetheless, it is desirable that they be able to perform a variety of tasks within domestic and service environments such as hospitals or care homes. Such tasks fall under what is commonly known as domestic chores, whose fulfillment ensures not just tidy homes, but the very proper life conditions of physically disabled people, in acceptable standards of human dignity and coverage of needs. Human companionship cannot be obviated, but the burden of associated duties without added value in personal interchange can be certainly alleviated with a robotic helper.Among these tasks, those that involve the manipulation of textile items, including of course all types of garments, but also other categories of fabric-made objects such as bed-and tablecloth, curtains, towels, kitchen rags and dishcloth, etc. have to be highlighted. The omnipresence of such items in human daily environments and the importance of handling them correctly are evident. The means of providing assistive robots with the necessary abilities to perform cloth manipulation are not so clear. Ideally one would like to replicate the human proficiency in manipulating clothes, but the robotic state-of-the-art is still far from achieving the needed perceptual skills and the required dexterity. Cloth perception and manipulation

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Section: Generic Grasping Point Selection (Ggps)mentioning

confidence: 99%

Perception of cloth in assistive robotic manipulation tasks

Jiménez

Torras

2020

Nat Comput

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“…Unlike dressing assistance, recognition methods for clothing manipulation have been widely reported in the literature [6,19]. Because objects made of cloth are so flexible, observing their motions during manipulation is essential.…”

Section: Related Workmentioning

confidence: 99%

Bottom Dressing by a Dual-Arm Robot Using a Clothing State Estimation Based on Dynamic Shape Changes

Yamazaki

Oya²,

Nagahama³

et al. 2016

International Journal of Advanced Robotic Systems

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This paper describes an autonomous robot's method of dressing a subject in clothing. Our target task is to dress a person in the sitting pose. We especially focus on the action whereby a robot automatically pulls a pair of trousers up the subject's legs, an action frequently needed in dressing assistance. To avoid injuring the subject's legs, the robot should be able to recognize the state of the manipulated clothing. Therefore, while handling the clothing, the robot is supplied with both visual and tactile sensory information. A dressing failure is detected by the visual sensing of the behaviour of optical flows extracted from the clothing's movements. The effectiveness of the proposed approach is implemented and validated in a life-sized humanoid robot.

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“…Clothing manipulation have been studied in the field of intelligent robot [5] [14]. Because clothing is flexible object, we have to observe both what type of manipulation is applied, and what is happening to the clothing by the manipulation.…”

Section: Related Workmentioning

confidence: 99%

A method of state recognition of dressing clothes based on dynamic state matching

Yamazaki

Oya

Nagahama

et al. 2013

Proceedings of the 2013 IEEE/SICE International Symposium on System Integration

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This paper describes a method of clothing recognition using dynamic state matching. One purpose of this research is to develop a function that is used to observe the progress of dressing a bottom at a toilet or a bedside. In this dressing, although we just have to do is to put my or others' legs on the bottom. some undesirable situations may occur. For instance, the feet gets hung up on the part of the bottom, and so on.Assuming to use a single camera, we propose a method that distinguishes whether or not a behavior of dressing a bottom is working in order. The input data is an image stream that captures a dressing sequence. Optical flow is calculated from two consecutive images, and then the distribution of the flows is used to distinguish the present clothing state by matching the optical flow with training dataset. The method outputs whether or not the present clothing is in a successful situation. The effectiveness of the proposed method was proven by means of real image data.

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Planning Strategy for Task of Unfolding Clothes(Isolation of Clothes from Washed Mass).

Cited by 9 publications

References 0 publications

Perception of cloth in assistive robotic manipulation tasks

Perception of cloth in assistive robotic manipulation tasks

Bottom Dressing by a Dual-Arm Robot Using a Clothing State Estimation Based on Dynamic Shape Changes

A method of state recognition of dressing clothes based on dynamic state matching

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