布料物体的标准化及其在机器人操作中的相关性
Standardization of Cloth Objects and its Relevance in Robotic Manipulation
AI总结：
针对机器人操作可变形布料物体时难以理解和标准化其属性的问题，本研究提出适用于机器人应用的布料表征框架，初步验证了其表征能力并揭示布料属性对机器人操作任务的影响，提出相关测量方法。
摘要：
机器人领域在操作可变形物体时面临固有挑战，尤其是在理解和标准化布料属性（如弹性、刚度和摩擦）方面。尽管这些属性在布料操作领域的重要性显而易见，但在实际应用中准确分类和理解它们仍难以实现。本研究旨在实现两个主要目标：（1）提供适用于机器人应用的布料物体表征框架；（2）研究这些属性如何影响机器人操作任务。我们的初步结果验证了该框架表征布料属性和比较布料组的能力，并揭示了不同属性对五种操作原语结果的影响。我们认为，一般而言，衣物操作的研究结果应随评估所用服装的更详细描述一同报告。本文提出了一套此类测量方法。
英文摘要：
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is evident in the realm of cloth manipulation, accurately categorising and comprehending them in real-world applications remains elusive. This study sets out to address two primary objectives: (1) to provide a framework suitable for robotics applications to characterise cloth objects, and (2) to study how these properties influence robotic manipulation tasks. Our preliminary results validate the framework's ability to characterise cloth properties and compare cloth sets, and reveal the influence that different properties have on the outcome of five manipulation primitives. We believe that, in general, results on the manipulation of clothes should be reported along with a better description of the garments used in the evaluation. This paper proposes a set of these measures.
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。
