采用移动操作的无模型大规模布料展开：初步可行性研究
Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study
AI总结：
针对大规模布料操作的可达性与控制难题，提出基于单臂移动操作器、视觉在线雅可比控制和行为树调度的无模型展开框架，实验验证了该方案的可行性。
摘要：
布料操作在家庭与服务任务中十分常见，多数研究使用固定基座操作器处理相对于操作器工作空间尺寸较小的物体，例如毛巾、衬衫和抹布。相比之下，铺床、铺桌布等大规模布料操作在可达性与操作控制方面带来了额外挑战。为解决这些问题，本文提出一种新颖的大规模布料展开框架，采用单臂移动操作器解决可达性问题，以开展初步可行性研究。在操作控制层面，无需对高度可变形的布料建模，采用基于视觉的操作控制方案，该方案基于从所选特征点到末端执行器运动的在线更新雅可比矩阵映射。为协调操作器与移动平台的控制，得益于行为树（Behavior Trees, BTs）的模块化特性，本研究采用该框架进行控制。最后开展了实验，包括验证不同条件下布料展开的无模型操作控制，以及大规模布料展开框架的有效性。实验结果证明了单臂移动操作器完成大规模布料展开任务的可行性，以及无模型变形控制器的有效性。
英文摘要：
Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags. In contrast, manipulation of large-scale cloth, such as bed making and tablecloth spreading, poses additional challenges of reachability and manipulation control. To address them, this paper presents a novel framework to spread large-scale cloth, with a single-arm mobile manipulator that can solve the reachability issue, for an initial feasibility study. On the manipulation control side, without modeling highly deformable cloth, a vision-based manipulation control scheme is applied and based on an online-update Jacobian matrix mapping from selected feature points to the end-effector motion. To coordinate the control of the manipulator and mobile platform, Behavior Trees (BTs) are used because of their modularity. Finally, experiments are conducted, including validation of the model-free manipulation control for cloth spreading in different conditions and the large-scale cloth spreading framework. The experimental results demonstrate the large-scale cloth spreading task feasibility with a single-arm mobile manipulator and the model-free deformation controller.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
