Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes

Apoorva Sachdev

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2012-92
May 11, 2012

http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-92.pdf

Robotic manipulation of 2D deformable objects is a difficult problem largely because such objects typically have infinite-dimensional configuration spaces and are too computationally expensive to simulate in the inner-loop of a motion planner.The problem we address is as follows: Given a robot model, the shape of a piece of cloth in a spread-out configuration on a horizontal table, and a final folded configuration specified by a sequence of g-folds, output a sequence of robot motions that achieve the final folded configuration or report that none exists, taking into account the kinematics constraints. We make this optimal on execution time.

Advisor: John F. Canny and Pieter Abbeel


BibTeX citation:

@mastersthesis{Sachdev:EECS-2012-92,
    Author = {Sachdev, Apoorva},
    Title = {A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes},
    School = {EECS Department, University of California, Berkeley},
    Year = {2012},
    Month = {May},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-92.html},
    Number = {UCB/EECS-2012-92},
    Abstract = {Robotic manipulation of 2D deformable objects is a difficult problem largely because such objects typically have infinite-dimensional configuration spaces and are too computationally expensive to simulate in the inner-loop of a motion planner.The problem we address is as follows: Given a robot model, the shape of a piece of cloth in a spread-out configuration on a horizontal table, and a final folded configuration specified by a sequence of g-folds, output a sequence of robot motions that achieve the final folded configuration or report that none exists, taking into account the kinematics constraints. We make this optimal on execution time.}
}

EndNote citation:

%0 Thesis
%A Sachdev, Apoorva
%T A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes
%I EECS Department, University of California, Berkeley
%D 2012
%8 May 11
%@ UCB/EECS-2012-92
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-92.html
%F Sachdev:EECS-2012-92