Planning Strategy for Task Untangling Laundry – Isolating Clothes from a Washed Mass –
Kyoko Hamajima and Masayoshi Kakikura
Tokyo Denki University, 2-2 Nisiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Japan
Research on housework labor saving and automation for housework robots is growing as the population grays and improved electronics are becoming available to the home. Special problems for housework robots include the enormous recognition complexity needed if such robots are to be highly independent of the work environment. Robot must deal, for example, with the variety of “nonsolid” household objects. We studied the technology by which a robot handles nonsolid objects, focusing on putting clothing to order at a specified site. Concrete subtasks this involves include removing one type of clothing from a wash and spreading out, classifying, folding, and putting it in a specified place. This paper proposes a “unfolding” planning strategy.