When I was away from home I washed my laundry by hand in a sink, but washing my towels cost $6 at a laundromat. Now I may build this device that could be put on the floor and leg-powered:
Tabletop Washing Machine (4 Da Poor Man): 6 Steps
If that doesn't work, a simpler device is the same bucket with a hole drilled in the lid and a toilet plunger. I have a bunch of buckets, but I would still be buying one to get a lid.