Recognition and Motion Primitives for Autonomous Clothes Unfolding of Humanoid Robot

In this paper, we propose a method for a humanoid robot to unfold clothes as a part of laundry sorting task. A clothes handling skill, which we define as a unit of robot motion, can be described as a combination of two elements: motion primitives and clothes basic information. To achieve robustness to colors and shapes of clothes, we propose clothes basic information that do not rely on color or shape of the target object. In this paper, we first propose actual motion primitives and clothes basic information for unfolding clothes, and then present experimental result obtained using a life-size humanoid robot.