Paper link: https://arxiv.org/abs/2303.04909
Experiment Video
Main Contributions
A novel image-processing algorithm on cloth-like deformable objects that computes a stretching direction and an operation point which can be directly used by the robot manipulator.
A simple control strategy leveraging the output of the perception step to perform the flattening actions.
A framework combining the algorithm and control strategy that enables us to perform cloth flattening tasks in high efficiency compared to baseline methods