Conclusion Page

Reflection

Our finished project met the basic design criteria that we set out for ourselves which included folding a sock, color-sorting it, and bringing it to the correct AR tag. We’d love to refine our design to include different orientations of socks without needing to rely on forward kinematics. We’ll discuss this more below.

Difficulties

We encountered many difficulties with the actual folding of the sock. Early on we realized that it was incredibly hard to fold the sock when it was lying flat on the ground and discussed many options on how to fold it such as hanging it from the table or designing a new gripper. However, we realized that it would be easier to instead create a raised platform that raises specific portions of the sock so that Sawyer can better grab and fold the sock.

Future Work

As mentioned previously, we have to use forward kinematics to specify the folding of the sock in its specific orientation. Thus, if we had additional time, we’d love to look into using a Realsense camera to identify points of the socks (such as the ends) that Sawyer should pick up to fold. Furthermore, after identifying one end of the sock we’d like to specify a certain linear trajectory to the other end. This is one major improvement that we’d like to implement without needing to rely on forward kinematics. This would also help extend our project to other clothing items as we would need to identify certain portions of the particle of clothing that need to be grabbed and brought over to certain areas of Sawyer.