ACTION 11
Reshaping
Changing an object's own shape to a target form, where the folds or curvature are created during the manipulation itself
Why It Matters
Tasks that change the shape of the object itself occur throughout tidying and sorting work. Examples include folding linens, refolding returned garments, and winding cables and harnesses.
Dedicated folding machines are limited to objects of uniform size and material. When the goal cannot be expressed as a rigid-body pose, the current shape must be re-observed at every step to decide the next contact point.
Skills 4
11-ADeformable Sheet Folding
Each fold becomes the reference for the next, so even small errors accumulate and throw off the final shape.
11-BLinear Object Winding
Winding requires repeated regrasping, and tension must be maintained throughout.
11-CMouth Opening
Excessive force actually narrows the mouth, so the right amount of force must be found.
11-DUntangling
The object passes through itself and is locked in place, so pulling alone cannot free it, and the configuration that releases the lock must be formed.
