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estevez2017icasrc-ironing-presentation

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

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estevez2017icasrc-ironing-presentation

  1. 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
  2. 2. /26 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) 2
  3. 3. /26 Structure Introduction to the problem Proposed solution Results and conclusions 3
  4. 4. /26 Introduction Problem: Ironing Garments 4
  5. 5. /26 Introduction Actual need for automated ironing systems 5 Elder people Business Lazy people
  6. 6. /26 Introduction 6 Typical laundry pipeline 1.Pick a Garment 2.Unfold Garment 3.Iron Garment 4.Fold Garment
  7. 7. /26 Introduction Why don’t we have automated solutions yet? 7 It’s a very challenging problem
  8. 8. /26 Introduction It’s hard for robots to work in human environments 8 ● Lots of large obstacles ● Tools adapted to human morphology
  9. 9. /26 Introduction Garment manipulation is challenging 9 ● Very thin objects, hard to grip ● Manipulation changes shape ● Manipulation changes weight distribution
  10. 10. /26 Introduction Garment perception is hard 10 One view is often not enough to recognize or analyze the garment
  11. 11. /26 Introduction How can we solve it? 11 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
  12. 12. /26 State of the Art How did other people approached this problem? 12 (Calinon et al., 2010) (Li et al, 2016)(Khatib et al., 1999)
  13. 13. /26 State of the Art Multi-sensor Surface Analysis for Robotic Ironing (Li et al., 2016) 13
  14. 14. /26 State of the Art Limitations: 14 ● Complex setup ● Illumination has to be controlled ● Albedo model is obtained from fully extended garment Implementation is not feasible in a real domestic environment
  15. 15. /26 Algorithm 15 Our approach:
  16. 16. /26 Algorithm 16 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.
  17. 17. /26 Algorithm 17 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.
  18. 18. /26 Algorithm 18 Force control ● Required to exert a constant pressure over the garment
  19. 19. /26 Algorithm 19 Perception: 3D scanning
  20. 20. /26 Algorithm 20 WiLD descriptor (3D)
  21. 21. /26 Algorithm 21 WiLD descriptor (2D)
  22. 22. /26 Experiments and Results 22
  23. 23. /26 Experiments and Results 23
  24. 24. /26 Conclusions Ironing is feasible with a full-body humanoid robot. Controlled light conditions are not required for the ironing task. 24
  25. 25. /26 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. 25
  26. 26. Robotics Ironing With a Humanoid Robot Using Human Tools Thank you! David Estevez*, Raul Fernandez-Fernandez, Juan G. Victores, Carlos Balaguer

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