Research on housework labor saving and automation for housework robots is growing as the population grays and improved electronics are becoming available to the home. Special problems for housework robots include the enormous recognition complexity needed if such robots are to be highly housework objects. We studies the technology by which a robot handles nonsolid objects, focusing on putting clothing to order at a specified site. Concrete subtasks this involves include removing one type of clothing from a wash and spreading out, classifying, folding , and putting it in a specified place. This paper propose a “unfolding” planning strategy.