Gravity-Based Robotic Cloth Folding

  title={Gravity-Based Robotic Cloth Folding},
  author={Jur P. van den Berg and Stephen Miller and Kenneth Y. Goldberg and Pieter Abbeel},
We consider how the tedious chore of folding clothes can be pe rformed by a robot. At the core of our approach is the definition of a cloth model that allows us to reason about the geometry rather than the physics of the cl oth in significant parts of the state space. We present an algorithm that, given the ge ometry of the cloth, computes how many grippers are needed and what the motion of t hese grippers are to achieve a final configuration specified as a sequence of g-f lds—folds that can be… CONTINUE READING
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