Folding deformable objects using predictive simulation and trajectory optimization
International Conference on Intelligent RObots and Systems - IROS, 2015.
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain trajectories will cause the garment to move, creating wrinkles, and gaps, other trajectories will ...More
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