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Autonomous manipulation of deformable objects have several applications in robotics and especially with domestic robots. The handling of laundry items using dual-arm manipulator is considered in this thesis. This includes the challenging tasks of recognition and grasping such objects of high degrees of freedom and varying appearance.  A platform for accomplishing laundry-related tasks is to be designed and tested for optimum setup. Such tasks include loading and unloading washing machine, folding clothes and ironing them. A pipeline for the successive processes is developed to execute the different functions. It starts with localizing the clothing items using depth camera, then determining grasping points and finally planning and executing a trajectory to manipulate the objects for the desired task.