Only if one has killed a believer by mistake. One must set free a believing slave and pay the blood-money to the family of the slain. Otherwise Quran talks about slaves in this way;
"Righteousness is not that you turn your faces toward the east or the west, BUT [TRUE] RIGHTEOUSNESS IS [IN] ONE WHO BELIEVES IN ALLAH, the Last Day, the angels, the Book, and the prophets and gives wealth, in spite of love for it, to relatives, orphans, the needy, the traveler, THOSE WHO ASK [FOR HELP], AND FOR FREEING SLAVES; ................” Quran 2:177
True righteousness ...........
There are countless examples of slaves who were set free and are renowned companions of Messenger Peace be upon him.
24:31 "And tell the believing women to lower their gaze and be modest, and to display of their adornment only that which is apparent, and to draw their veils over their bosoms, and not to reveal their adornment save to their own husbands or fathers or husbands' fathers, or their sons or their husbands' sons, or their brothers or their brothers' sons or sisters' sons, or their women, or their slaves." and
33:55 "It is no sin for them (thy wives) to converse freely) with their fathers, or their sons, or their brothers, or their brothers' sons, or the sons of their sisters or of their own women, or their slaves."
Salik there is difference between a salve and house aid. Plus the verses convey a very different message and purpose as compared to someone's interpretation trying to make these verses a confirmation for slavery being okay in Islam.
Don't blame traditions for reporting these disgusting otherwise normal things.
I will keep blaming traditions as long as these narratives include insults thrown at Messenger, his wives and his companions. If you wish to believe that women slaves were paraded naked during times of companions your choice ........ but all the characteristics mentioned in Quran of these companions are proof that these narrators invented and created these insulting events.