A geometric approach to robotic laundry folding

  title={A geometric approach to robotic laundry folding},
  author={Stephen Miller and Jur P. van den Berg and Mario Fritz and Trevor Darrell and Kenneth Y. Goldberg and Pieter Abbeel},
  journal={I. J. Robotics Res.},
We consider the problem of autonomous robotic laundry folding, and propose a solution to the perception and manipulation challenges inherent to the task. At the core of our approach is a quasi-static cloth model which allows us to neglect the complex dynamics of cloth under significant parts of the state space, allowing us to reason instead in terms of simple geometry. We present an algorithm which, given a 2D cloth polygon and a desired sequence of folds, outputs a motion plan for executing… CONTINUE READING
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