ICINCO-2022 paper: Autonomous loading of a washing machine with a single-arm robot

Video for the paper "Autonomous Loading of a Washing Machine with a Single-Arm Robot", presented at the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO. Link for the paper: www.scitepress...
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 basket 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 (presented in an earlier publication) by finding multiple grasping points and defining a score to select one. Active contours segmentation is added to the algorithm 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. Modules for for detection of items fallen outside the drum are added to plan corresponding corrective action.
We use ROS, depth and 2D cameras and the Doosan robot for experiments.