Handling Flexible Object for Housekeeping Robot: Procedure for Folding Laundry

摘要

Study on Housekeeping Robot which putting away laundry is promoted in order to improve ability for handling a deformable object, especially clothes. Human skillfully deforms clothes by the empirical knowledge and it is useful to construct how to fold clothes by referring to the folding method of human. In this paper, at first, the handling method when clothes are folded is described. Secondly, the general rule for determining the procedure for folding laundry is derived based on the geometric feature of laundry and the way of handling clothes. Lastly, the task planning for folding laundry is shown.