Planning strategy for task untangling laundry-isolating clothes from a washed mass
Open accessAbstract
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.
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Cloth shaping is a crucial skill for doing laundry in daily life.
“Cloth shaping is a crucial skill for doing laundry in daily life [251].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [251]
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Folding clothes autonomously: A complete pipeline
Doumanoglou, A., Stria, J., Peleka, G., Mariolis, I., Petrik, V., Kargakos, A., Wagner, L., Hlavac, V., Kim, T.-K., & Malassiotis, S. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2602376 · Cited by 122 · see citing works
“Van den Berg et al. [28] introduced algorithms for folding a single garment spread on a table.”
BackgroundMethodUnfolding of Massive Laundry and Classification Types by Dual Manipulator
Osawa, F., Seki, H., & Kamiya, Y. (2007) · Journal of Advanced Computational Intelligence and Intelligent Informatics · doi:10.20965/jaciii.2007.p0457 · Cited by 102 · see citing works
Planning strategy for task of unfolding clothes
Hamajima, K., & Kakikura, M. (2000) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(99)00115-3 · Cited by 45 · see citing works
Clothes Folding Task by Tool-Using Robot
Osawa, F., Seki, H., & Kamiya, Y. (2006) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2006.p0618 · Cited by 37 · see citing works
Handling of hemmed fabrics by a single-armed robot
Shibata, M., Ota, T., Yoshimasa, E. N. D. O., et al. (2008) · 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) · doi:10.1109/coase.2008.4626476 · Cited by 32 · see citing works
“For example, a rotational hand, which can roll up a fabric using two rotational wheels on the fingertips, has been proposed for fabric grasping [6], along with a visual strategy to detect grasping points for messy fabrics [7].”
BackgroundWiping motion for deformable object handling
Shibata, M., Ota, T., & Hirai, S. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152448 · Cited by 28 · see citing works
Kadi, H. A., & Terzić, K. (2023) · Sensors · doi:10.3390/s23052389 · Cited by 19 · see citing works
“Cloth shaping is a crucial skill for doing laundry in daily life [251].”
BackgroundInfluentialClothes Manipulation by Robot Grippers with Roller Fingertips
Sahari, K. S. M., Seki, H., Kamiya, Y., & Hikizu, M. (2010) · Advanced Robotics · doi:10.1163/016918609x12586175245158 · Cited by 18 · see citing works
“Hamajima et al. also suggested a visual system to detect grasping points for messy fabrics [7].”
BackgroundFolding algorithms and mechanisms synthesis for robotic ironing
Dai, J. S., Taylor, P. M., Liu, H., et al. (2004) · International Journal of Clothing Science and Technology · doi:10.1108/09556220410520487 · Cited by 16 · see citing works
Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion
Shibata, M., Ohta, T., & Hirai, S. (2010) · The Abstracts of the international conference on advanced mechatronics toward evolutionary fusion of IT and mechatronics ICAM · doi:10.1299/jsmeicam.2010.5.392 · Cited by 14 · see citing works
“For example, a rotational hand, which can roll up a fabric using two rotational wheels on the fingertips, has been proposed for fabric grasping [6], along with a visual strategy to detect grasping points for messy fabrics [7].”
BackgroundDifferentiable Cloth Parameter Identification and State Estimation in Manipulation
Zheng, D., Yao, S., Xu, W., et al. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3357039 · Cited by 10 · see citing works
“Studies have explored a range of techniques, from the traditional planning [24], [25], [26] to more advanced deep reinforcement learning algorithms [3], [6], in order to facilitate the process.”
BackgroundSequence trajectory generation for garment handling systems
Liu, H., & Lin, H. Y. (2007) · Applied Mathematical Modelling · doi:10.1016/j.apm.2007.02.026 · Cited by 6 · see citing works
Virtual rope theory for fabric manipulation
Shibata, M., Ota, T., & Hirai, S. (2009) · IEEE International Symposium on Assembly and Manufacturing · doi:10.1109/isam.2009.5376934 · Cited by 3 · see citing works
Task Analysis and Motion Generation for Service Robots
Dai, J. S. (2013) · IGI Global eBooks · doi:10.4018/978-1-4666-4607-0.ch003 · Cited by 2 · see citing works
Contour Tracking of Soft Sheet Materials Using Local Contour Image Data
Osawa, F., & Kano, K. (2012) · International Journal of Automation Technology · doi:10.20965/ijat.2012.p0654 · Cited by 2 · see citing works
Passive Edge Tracing of Deformable Object by Robot
Sahari, K. S. M., Seki, H., Kamiya, Y., et al. (2011) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2011.p0458 · Cited by 2 · see citing works
Task Analysis and Motion Generation for Service Robots
Dai, J. S. (2012) · IGI Global eBooks · doi:10.4018/978-1-4666-0291-5.ch003 · Cited by 2 · see citing works
A Pinching Strategy for Fabrics Using Wiping Deformation
Shibata, M., & Hirai, S. (2016) · Robotics · doi:10.3390/robotics5020010 · Cited by 3 · see citing works
“In addition, a visual system can be used to detect grasping points for messy fabrics [7].”
BackgroundMechanization of Cloth Plication
Hubli, P. V., Alekhya, S., Vijayakumar, S., Prasad, T., Hegde, V. N., & Rao, K. N. (2017) · IEEE India Conference · doi:10.1109/indicon.2017.8487814 · Cited by 1 · see citing works
“Isolation The purpose of the isolation mechanism is to separate clothes from the pile [5].”
BackgroundKadi, H. A., & Terzić, K. (2022) · Preprints.org · doi:10.20944/preprints202212.0305.v1 · Cited by 1 · see citing works
Research on the Form Recognition of Fabric Products: Acquiring the Shapes of Flat, Limp Materials
Osawa, F., Kanou, K., & Yamada, Y. (2014) · International Journal of Automation Technology · doi:10.20965/ijat.2014.p0880
Marker Tracking for Indirect Positioning During Fabric Manipulation
Shibata, M. (2013) · Lecture notes in electrical engineering · doi:10.1007/978-94-007-6996-0_93
- Authors
- Hamajima, K., Tokyo Denki University, 2.-2. N.-C., & Kakikura, M.
- Venue
- Journal of Robotics and Mechatronics
- Publisher
- Fuji Technology Press Ltd.
- Published
- 1998-06-20
- Volume
- 10
- Issue
- 3
- Pages
- 244-251
- ISSN
- 0915-3942 (ISSN-L)
- 1883-8049
- OpenAlex
- W2583589241
- Cited by
- 22
- References
- 0
- Citations by year
- 2024: 1 · 2023: 1 · 2022: 1 · 2017: 1 · 2016: 2 · 2014: 1 · 2013: 2 · 2012: 2
- FWCI
- 0.86
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Licence
- cc-by-nd
- Locations
- Journal of Robotics and Mechatronics (publishedVersion, cc-by-nd)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotics and Automated Systems
- Physical Sciences › Computer Science › Artificial Intelligence › AI-based Problem Solving and Planning
- Keywords
- laundry, task planning, clothing classification, folding, object recognition, household automation
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