Bimanual robotic cloth manipulation for laundry folding

@article{Bersch2011BimanualRC,
  title={Bimanual robotic cloth manipulation for laundry folding},
  author={Christian Bersch and Benjamin Pitzer and S{\"o}ren Kammel},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={1413-1419}
}
The physical properties of highly deformable objects such as clothing poses a challenging problem for autonomously acting systems. Especially, grasping and manipulation require new approaches that can accommodate for an object's variable and changing appearance. In this paper, we present a system that is capable of fully autonomously transforming a clothing item from a random crumpled configuration into a folded state. We describe a method to compute valid grasp poses on the cloth which… CONTINUE READING
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