Abstract
This paper presents a method for the robotic unfolding of garments from random initial configurations. In order to handle various types of garments and fabrics, features common in all garments are explored and identified, while manipulations mimicking the human unfolding movements are derived by a learning procedure. The proposed approach involves the transformation of the garment from random to half-folded state so that its configuration can be analyzed through a visual hierarchical architecture. Then, the two layers of the garment and the folding axis that unites them are extracted. The upper layer is finally unfolded by the application of a path extracted based on learning by demonstration. The proposed framework is experimentally evaluated on a variety of garments and the produced results indicate the feasibility of the method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Corona, E., Alenya, G., Gabas, A., Torras, C.: Active recognition and target grasping point detection using deep learning. Pattern Recogn. 74, 629–641 (2018)
Doumanoglou, A., Kim, T.-K., Zhao, X., Malassiotis, S.: Active random forests: an application to autonomous unfolding of clothes. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8693, pp. 644–658. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-10602-1_42
Osawa, F., Seki, H., Kamiya, Y.: Unfolding of massive laundry and classification types by dual manipulator. JACIII 11(5), 457–463 (2007)
Hamajima, K., Kakikura, M.: Planning strategy for task of unfolding cloths. J. Robot Mechatron 12, 557–584 (2000)
Stria, J., Petrik, V., Hlavac, V.: Model free approach to Garments Unfolding Based on detection of folded layers. In: Intelligent Robots and Systems, pp. 3274–3280 (2017)
Estevez, D., Victores, J.D., Fernandez, R., et al.: Enabling garment agnostic laundry tasks for a robot household companion. Robot. Auton. Syst. 123, 134–139 (2020)
Triantafyllou, D., Mariolis, I., Kargakos, A., et al.: A geometric approach to robotic unfolding of garments. Robot. Auton. Syst. 75, 233–243 (2016)
Triantafyllou, D., Koustoumpardis, P., Aspragathos, N.: Type independent hierarchical analysis for the recognition of folded garments’ configuration. Intel. Serv. Robot. 14(5), 427–444 (2021)
Triantafyllou, D., Koustoumpardis, P., Aspragathos, N.: Type and fabric agnostic methods for robotic unfolding of folded garments, submitted
van den Berg, J., Miller, S., Goldberg, K., Abbeel, P.: Gravity-based robotic cloth folding. In: Hsu, D., Isler, V., Latombe, J.C., Lin, M.C. (eds.) Algorithmic Foundations of Robotics IX. Springer Tracts in Advanced Robotics, vol. 68, pp. 409–424. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-17452-0_24
Pau, F.: Acquisition, placement and folding of fabric materials. Cloth. Sci. Technol. 16(1), 227–237 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Triantafyllou, D., Aspragathos, N. (2022). Garment Type Agnostic Robotic Unfolding of Garments from Random Configuration. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_57
Download citation
DOI: https://doi.org/10.1007/978-3-031-04870-8_57
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-04869-2
Online ISBN: 978-3-031-04870-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)