Method and system for handling deformable objects

A system for handling one or more deformable objects that are arranged in a stack, the system comprising:

• a dual-arm robotic manipulator comprising:
• first and second robotic arms;
• and
• first and second end effectors connected to the first and second robotic arms, respectively;
• a set of image sensors configured to capture a first set of images of the stack;
• and
• a control server in communication with the dual-arm robotic manipulator and the set of image sensors, the control server configured to:
• detect the one or more deformable objects arranged in the stack based on the first set of images captured by the set of image sensors;
• determine a contour of the detected one or more deformable objects based on the first set of images;
• determine, based on the contour, a sequence of a plurality of actions to be performed by the dual-arm robotic manipulator for handling a first deformable object in the stack, wherein the handling includes a pick operation to be executed on the first deformable object;
• and
• control, in the pick operation based on the determined sequence of the plurality of actions:
• the first robotic arm to grip the first deformable object from a gripping end by way of the first end effector, and lift the gripped end to a predetermined height to partially lift the first deformable object;
• the second robotic arm to slide the second end effector beneath the partially lifted first deformable object, and lift the first deformable object in entirety;
• and
• the first robotic arm to release the grip of the first end effector on the first deformable object for successfully executing the pick operation.