Planning strategy for unfolding task of clothes - isolation of clothes from washed mass

The research on the labor saving and the automation of housework by robots are proceeding rapidly with the reasons of increasing population of aged persons and advancing electronics in houses. The special problems concerning housework robots are the enormous complexity of working environment and huge number and various kinds of objects in a house. Therefore the recognition function of the robot is desired highly independent from working environment. Moreover, the robot should be able to treat various kind of "Non-solid Form Objects" exist in a house. The object of this research is to develop the technology by which the robot can manage the Non-solid form objects, especially clothes. The final goal of the research is the creation of the housekeeping robot which can manage unarranged clothes into the order at the specified place. Some of the concrete subtasks of this work are taking out one clothes, expanding, classifying, folding, and putting it on the specified place. In this paper we propose a planning strategy for unfolding task of clothes.