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Robotic manipulation of deformable objects remains a challenging task. Onesuch task is folding a garment autonomously. Given start and end foldingpositions, what is an optimal trajectory to move the robotic arm to fold agarment? Certain trajectories will cause the garment to move, creatingwrinkles, and gaps, other trajectories will fail altogether. We present a novelsolution to find an optimal trajectory that avoids such problematic scenarios.The trajectory is optimized by minimizing a quadratic objective function in anoff-line simulator, which includes material properties of the garment andfrictional force on the table. The function measures the dissimilarity betweena user folded shape and the folded garment in simulation, which is then used asan error measurement to create an optimal trajectory. We demonstrate that ourtwo-arm robot can follow the optimized trajectories, achieving accurate andefficient manipulations of deformable objects.

Folding Deformable Objects using Predictive Simulation and Trajectory Optimization