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Effective cloth folding trajectories in simulation with only two parameters.

Victor-Louis De Gusseme1, Francis Wyffels1

  • 1IDLab-AIRO, Department of Electronics and Information Systems, Ghent University - imec, Ghent, Belgium.

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This study simplifies robotic cloth folding by using a two-parameter trajectory search. Simple adjustments in height and tilt effectively handle various cloth types and folding scenarios.

Keywords:
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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Materials Science

Background:

  • Robotic cloth folding is complex due to fabric's deformability.
  • Existing strategies offer limited adaptability for handling cloth deformations.

Purpose of the Study:

  • To investigate a simplified approach for robotic cloth folding.
  • To evaluate the adaptability and robustness of a two-parameter trajectory search space.

Main Methods:

  • Simulated robotic cloth folding using a high-fidelity simulator.
  • Analyzed a trajectory search space defined by height and tilt parameters.
  • Tested folding scenarios with diverse cloth shapes, materials, sequences, and velocities.

Main Results:

  • A two-parameter trajectory search (height and tilt) effectively managed all tested folding scenarios.
  • The proposed trajectory approach demonstrated robustness across various cloth properties and folding parameters.
  • Successful folding of a long-sleeved shirt was achieved through parameter tuning.

Conclusions:

  • The simplified two-parameter trajectory approach is highly adaptable for robotic cloth folding.
  • The robustness observed in simulations suggests strong potential for real-world robotic applications.
  • This method offers a promising direction for advancing automated fabric manipulation.