以前机器人只能操作刚体，研究者们开发了一种检测非刚体边角的方法，使得PR2机器人可以叠毛巾。
整个叠毛巾的流程如下图，关键是通过视觉检测出毛巾的角，然后操作这些角。
参考：
- PR2 robot folding towels
- J. Maitin-Shepard, M. Cusumano-Towner, J. Lei and P. Abbeel. Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding. the proceedings of the International Conference on Robotics and Automation (ICRA), 2010.