Date of Award


Document Type

Thesis (Undergraduate)

Department or Program

Department of Computer Science

First Advisor

Devin Balkcom


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.


Originally posted in the Dartmouth College Computer Science Technical Report Series, number TR2018-852.