{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robotic-ironing-with-3d-perception-and","title":"Robotic Ironing with 3D Perception and Force/Torque Feedback in Household Environments","arxiv_id":"1706.05340","date":"2017-06-16","proceeding":null,"authors":["David Estevez","Juan G. Victores","Raul Fernandez-Fernandez","Carlos Balaguer"],"abstract":"As robotic systems become more popular in household environments, the\ncomplexity of required tasks also increases. In this work we focus on a\ndomestic chore deemed dull by a majority of the population, the task of\nironing. The presented algorithm improves on the limited number of previous\nworks by joining 3D perception with force/torque sensing, with emphasis on\nfinding a practical solution with a feasible implementation in a domestic\nsetting. Our algorithm obtains a point cloud representation of the working\nenvironment. From this point cloud, the garment is segmented and a custom\nWrinkleness Local Descriptor (WiLD) is computed to determine the location of\nthe present wrinkles. Using this descriptor, the most suitable ironing path is\ncomputed and, based on it, the manipulation algorithm performs the\nforce-controlled ironing operation. Experiments have been performed with a\nhumanoid robot platform, proving that our algorithm is able to detect\nsuccessfully wrinkles present in garments and iteratively reduce the\nwrinkleness using an unmodified iron.","url_abs":"http://arxiv.org/abs/1706.05340v1","url_pdf":"http://arxiv.org/pdf/1706.05340v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robotic-ironing-with-3d-perception-and","repo_url":"https://github.com/roboticslab-uc3m/textiles","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}