Robotic Laundry Folding

We designed and implemented laundry-folding strategies for a six-jointed robotic arm. Our two main contributions are a bar-folding method for folding shirts that have already been unwrinkled and positioned on a table, and a planner for generating new sequences of folds that this method can use. Our bar-folding method is quick, accurate, and simple compared to other folding methods, and our fold planner provides an automated alternative to the pre-programmed fold sequences used in other research