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Household Service Robotics by Xinyu Wu, Huihuan Qian, Yangsheng Xu

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Chapter 5.2

A Geometric Approach to Robotic Laundry Folding1

Stephen Miller1, Jur van den Berg2, Mario Fritz3, Trevor Darrell1, Ken Goldberg1,  and Pieter Abbeel1     1Electrical Engineering and Computer Science, College of Engineering, University of California, Berkeley, CA, USA     2School of Computing, University of Utah, Salt Lake City, UT, USA     3Max-Planck Institute for Informatics, Saarbrücken, Germany

Abstract

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 ...

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