{"id":"https://openalex.org/W2626717828","doi":"https://doi.org/10.1109/iros.2017.8206556","title":"Robotic ironing with 3D perception and force/torque feedback in household environments","display_name":"Robotic ironing with 3D perception and force/torque feedback in household environments","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2626717828","doi":"https://doi.org/10.1109/iros.2017.8206556","mag":"2626717828"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.05340","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019409804","display_name":"David Estevez","orcid":"https://orcid.org/0000-0002-8791-6649"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"David Estevez","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054568937","display_name":"Juan G. Victores","orcid":"https://orcid.org/0000-0002-3080-3467"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan G. Victores","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032398292","display_name":"Ra\u00fal Fernandez-Fernandez","orcid":"https://orcid.org/0000-0002-6279-5553"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Raul Fernandez-Fernandez","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Universidad Carlos III de Madrid (UC3M)","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019409804"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06575942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6484","last_page":"6489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11595","display_name":"Textile materials and evaluations","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11595","display_name":"Textile materials and evaluations","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9714999794960022,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6482299566268921},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6467413306236267},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5680204033851624},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5661532282829285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5451892018318176},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5314487218856812},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5048102140426636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4954928159713745},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.4954761266708374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4693979322910309},{"id":"https://openalex.org/keywords/emphasis","display_name":"Emphasis (telecommunications)","score":0.44260215759277344},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.42668431997299194},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.42643147706985474},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.419533908367157},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3493920564651489},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33469265699386597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32754814624786377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24771490693092346},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2059362828731537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07606431841850281}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6482299566268921},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6467413306236267},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5680204033851624},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5661532282829285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5451892018318176},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5314487218856812},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5048102140426636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4954928159713745},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.4954761266708374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4693979322910309},{"id":"https://openalex.org/C177454536","wikidata":"https://www.wikidata.org/wiki/Q578290","display_name":"Emphasis (telecommunications)","level":2,"score":0.44260215759277344},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.42668431997299194},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.42643147706985474},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.419533908367157},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3493920564651489},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33469265699386597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32754814624786377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24771490693092346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2059362828731537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07606431841850281},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2017.8206556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1706.05340","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.05340","pdf_url":"https://arxiv.org/pdf/1706.05340","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2626717828","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1706.05340.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1706.05340","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1706.05340","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1706.05340","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.05340","pdf_url":"https://arxiv.org/pdf/1706.05340","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2626717828.pdf"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W2031580264","https://openalex.org/W2041579533","https://openalex.org/W2055885908","https://openalex.org/W2061134854","https://openalex.org/W2086635207","https://openalex.org/W2087070363","https://openalex.org/W2105548982","https://openalex.org/W2117392667","https://openalex.org/W2156047221","https://openalex.org/W2287201237","https://openalex.org/W2327569189","https://openalex.org/W3139957176"],"related_works":["https://openalex.org/W2963370214","https://openalex.org/W2890175425","https://openalex.org/W2464202553","https://openalex.org/W2311670342","https://openalex.org/W2785030475","https://openalex.org/W1842073430","https://openalex.org/W2345419442","https://openalex.org/W24777700","https://openalex.org/W1932845498","https://openalex.org/W1505492451","https://openalex.org/W2884615100","https://openalex.org/W2947818707","https://openalex.org/W2907082577","https://openalex.org/W1851873391","https://openalex.org/W3144635926","https://openalex.org/W2587796855","https://openalex.org/W2807870465","https://openalex.org/W582865106","https://openalex.org/W3173816579","https://openalex.org/W3196314722"],"abstract_inverted_index":{"As":[0],"robotic":[1],"systems":[2],"become":[3],"more":[4],"popular":[5],"in":[6,66,148],"household":[7],"environments,":[8],"the":[9,31,33,42,78,85,100,103,109,120,124,153],"complexity":[10],"of":[11,30,35,45,77,102],"required":[12],"tasks":[13],"also":[14],"increases.":[15],"In":[16],"this":[17,82,107],"work":[18],"we":[19],"focus":[20],"on":[21,41,57,118],"a":[22,28,59,63,67,73,90,133],"domestic":[23,68],"chore":[24],"deemed":[25],"dull":[26],"by":[27,48],"majority":[29],"population,":[32],"task":[34],"ironing.":[36],"The":[37],"presented":[38],"algorithm":[39,71,122,140],"improves":[40],"limited":[43],"number":[44],"previous":[46],"works":[47],"joining":[49],"3D":[50],"perception":[51],"with":[52,55,62,132],"force/torque":[53],"sensing,":[54],"emphasis":[56],"finding":[58],"practical":[60],"solution":[61],"feasible":[64],"implementation":[65],"setting.":[69],"Our":[70],"obtains":[72],"point":[74,83],"cloud":[75],"representation":[76],"working":[79],"environment.":[80],"From":[81],"cloud,":[84],"garment":[86],"is":[87,96,114,141],"segmented":[88],"and":[89,150],"custom":[91],"Wrinkleness":[92],"Local":[93],"Descriptor":[94],"(WiLD)":[95],"computed":[97,115],"to":[98,143],"determine":[99],"location":[101],"present":[104,147],"wrinkles.":[105],"Using":[106],"descriptor,":[108],"most":[110],"suitable":[111],"ironing":[112,126],"path":[113],"and,":[116],"based":[117],"it,":[119],"manipulation":[121],"performs":[123],"force-controlled":[125],"operation.":[127],"Experiments":[128],"have":[129],"been":[130],"performed":[131],"humanoid":[134],"robot":[135],"platform,":[136],"proving":[137],"that":[138],"our":[139],"able":[142],"detect":[144],"successfully":[145],"wrinkles":[146],"garments":[149],"iteratively":[151],"reduce":[152],"wrinkleness":[154],"using":[155],"an":[156],"unmodified":[157],"iron.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}