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Authors: Hassan Shehawy ; Andrea Maria Zanchettin and Paolo Rocco

Affiliation: Politecnico di Milano, 20133 Milan, Italy

Keyword(s): Robotics, Deformable Objects, Image Clustering, Computer Vision.

Abstract: The perception and autonomous manipulation of clothes by robots is an ongoing research topic that is attracting a lot of contributions. We consider the application of handling garments for laundry in this work. A framework for loading a washing machine with clothes placed initially inside a box is presented. Our framework is created in a modular way to account for the sub-problems associated with the full process. We extend our grasping point estimation algorithm by finding multiple grasping points and defining a score to select one. Active contours segmentation is added to the algorithm as well for more robust clustering of the image. Model of the washing machine is used to create a motion plan for the robot to place the clothes inside the drum. A new module is added for detection of items fallen outside the drum so to plan corresponding corrective action. We use ROS, depth and 2D cameras and the Doosan A0509 robot for experiments.

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Paper citation in several formats:
Shehawy, H.; Zanchettin, A. and Rocco, P. (2022). Autonomous Loading of a Washing Machine with a Single-arm Robot. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 443-450. DOI: 10.5220/0011276200003271

@conference{icinco22,
author={Hassan Shehawy. and Andrea Maria Zanchettin. and Paolo Rocco.},
title={Autonomous Loading of a Washing Machine with a Single-arm Robot},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={443-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011276200003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Autonomous Loading of a Washing Machine with a Single-arm Robot
SN - 978-989-758-585-2
IS - 2184-2809
AU - Shehawy, H.
AU - Zanchettin, A.
AU - Rocco, P.
PY - 2022
SP - 443
EP - 450
DO - 10.5220/0011276200003271
PB - SciTePress

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