Presentation corresponding to "Robotics Ironing With a Humanoid Robot Using Human Tools" .

1. Robotics Ironing With
a Humanoid Robot Using
Human Tools
David Estevez*, Raul Fernandez-Fernandez,
Juan G. Victores, Carlos Balaguer
Robotics Lab research Group
Universidad Carlos III de Madrid
{destevez, rauferna, jcgvicto, balaguer}@ing.uc3m.es

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About me
David Estevez
Ph.D candidate at Carlos III University of
Madrid (Spain)
Thesis topic: robotic systems for the
perception and manipulation of deformable
objects (such a garments)
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3. /26
Structure
Introduction to the problem
Proposed solution
Results and conclusions
3

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Introduction
Problem: Ironing Garments
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Introduction
Actual need for automated ironing systems
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Elder people Business Lazy people

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Introduction
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Typical laundry pipeline
1.Pick a Garment 2.Unfold Garment 3.Iron Garment 4.Fold Garment

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Introduction
Why don’t we have automated solutions yet?
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It’s a very challenging problem

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Introduction
It’s hard for robots to work in human
environments
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● Lots of large
obstacles
● Tools adapted
to human
morphology

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Introduction
Garment manipulation is challenging
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● Very thin objects, hard to grip
● Manipulation changes shape
● Manipulation changes weight
distribution

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Introduction
Garment perception is hard
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One view is often
not enough to
recognize or analyze
the garment

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Introduction
How can we solve it?
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Similar morphology as a human
○ Can navigate through a human
environment
○ Can use human tools (e.g. iron)
○ Can manipulate objects (almost)
like a human

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State of the Art
How did other people approached this
problem?
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(Calinon et al., 2010) (Li et al, 2016)(Khatib et al., 1999)

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State of the Art
Multi-sensor Surface Analysis for Robotic
Ironing (Li et al., 2016)
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State of the Art
Limitations:
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● Complex setup
● Illumination has to be
controlled
● Albedo model is
obtained from fully
extended garment
Implementation is not
feasible in a real
domestic environment

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Algorithm
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Our approach:

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Algorithm
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Contributions:
● A human-inspired ironing method based on position and velocity control
with feedback from a force/torque sensor.
● A 3D visual error correction checking.
Assumptions:
● The garment has already been placed over the ironing board by a
previous manipulation operation.

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Algorithm
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Pre-programmed trajectory:
● Used to place the iron (and arm) in the working
position, avoiding obstacles.
● Once the iron is correctly placed, it starts
descending at constant velocity until contact is
detected.

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Algorithm
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Force control
● Required to exert a constant pressure over the
garment

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Algorithm
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Perception: 3D scanning

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Algorithm
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WiLD descriptor (3D)

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Algorithm
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WiLD descriptor (2D)

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Experiments and Results
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Experiments and Results
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Conclusions
Ironing is feasible with a full-body humanoid
robot.
Controlled light conditions are not required
for the ironing task.
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Future work
Detection of garment attached elements
(buttons, zippers...) and parts (collars, cuffs,
pockets...).
Add remaining steps of the laundry pipeline.
For instance, garment placement on ironing
board.
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26. Robotics Ironing With
a Humanoid Robot Using
Human Tools
Thank you!
David Estevez*, Raul Fernandez-Fernandez,
Juan G. Victores, Carlos Balaguer