Motion planning for cooperative manipulators folding flexible planar objects

In this paper we consider the problem of folding deformable objects like cloth or towels. Embracing a simple object model, we present a new algorithm capable of generating collision-free folding motions for two cooperating manipulators. The algorithm encompasses the essential properties of manipulator-independence, parameterized fold quality, and speed. Numerous experiments executed on a real and simulated dual-manipulator robotic torso demonstrate the effectiveness of the presented method.