Planning Strategy for Task Untangling Laundry - Isolating Clothes from a Washed Mass -

Abstract

Research on housework labor saving and automation for housework robots is growing as the population grays and improved electronics are becoming available to the home. Special problems for housework robots include the enormous recognition complexity needed if such robots are to be highly independent of the work environment. Robot must deal, for example, with the variety of ""nonsolid"" household objects. We studied the technology by which a robot handles nonsolid objects, focusing on putting clothing to order at a specified site. Concrete subtasks this involves include removing one type of clothing from a wash and spreading out, classifying, folding, and putting it in a specified place. This paper proposes a ""unfolding"" planning strategy.

Virtual rope theory for fabric manipulation

“…1. Setting process for fabrics by humans grasping points for messy fabrics [7]. Moreover, a gripper based on two passively turning fingers and a simple onoff pneumatic drive mechanism has been constructed and used experimentally to grasp pieces of furs from a pellmell bundle [8].…”

Folding algorithms and mechanisms synthesis for robotic ironing

“…The prominent research is isolating (Kaneko and Kakikura, 2001) clothes from a washed mass to obtain reasonable results based on the region segmentation of images of washed mass and the determination of grasping points. Isolating is a key technique in picking clothes from washed mass (Hamajima and Kakikura, 1998). The colour imaging techniques are used and region segmentation with lighting is performed.…”

A Pinching Strategy for Fabrics Using Wiping Deformation

“…Fabric grasping may be accomplished using a rotational hand, which could roll up the fabric with two rotational wheels on the fingertips [6]. In addition, a visual system can be used to detect grasping points for messy fabrics [7]. A gripper based on two passively turning fingers and a simple on-off pneumatic drive mechanism was used experimentally to grasp pieces of furs from a mixed bundle [8].…”