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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