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Gravity-Based Robotic Cloth Folding
[chapter]
2010
Springer Tracts in Advanced Robotics
We consider how the tedious chore of folding clothes can be performed 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 cloth in significant parts of the state space. We present an algorithm that, given the geometry of the cloth, computes how many grippers are needed and what the motion of these grippers are to achieve a final configuration specified as a sequence of g-folds-folds that can be
doi:10.1007/978-3-642-17452-0_24
fatcat:xxgaqjerife23f5vnjwouiikza