In the laundry process, there are two practical methods for storing clothes including putting folded clothes into specified drawer and hanging unfolded clothes in the closet. Several papers have discussed the former by folding clothes using a complicated dual manipulator with more six degrees of freedom. This paper focuses on the problem of unfolding and hanging clothes using a hanger and a robotic arm. The problem consists of grasping a random point and the lowest point of a garment, recognizing its types, putting on a hanger and then unfolding it. This study attempts to design a special hanger and a simple robotic arm with 3-DOF to manipulate several types of shirts in regular size. A depth sensor plays a key role for controlling such robotic arm and creating dataset for Random Forests to recognize clothes and Hough Forests to estimate the grasping point.
展开▼
