T-DOM：一种用于可变形物体机器人操作分类体系
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects
AI总结：
本文提出T-DOM分类体系，首次系统分类可变形物体操作中的机器人运动、力、抓持交互及物体变形，并通过十个任务验证其能识别以往分类体系无法区分的操作技能，为可变形物体机器人操作提供更细粒度的理论框架。
摘要：
受观察人类操作策略启发的机器人抓取与操作分类体系，能够为从机器人夹爪设计到操作算法开发等任务提供关键指导。然而，现有的抓取与操作分类体系通常假设物体为刚性，这限制了它们在机器人操作可变形物体时对复杂交互进行推理的能力。因此，为了辅助涉及可变形物体的任务，分类体系需要更全面地捕捉可变形物体操作中固有的交互。为此，我们提出了T-DOM，一种分析可变形物体操作中关键方面的分类体系，例如机器人运动、力、抓持与非抓持交互，并首次对物体变形进行了详细分类。为了评估T-DOM，我们整理了一个包含十个任务的数据集，涉及多种可变形物体，如衣物、绳索和手术手套，以及不同类型的变形。我们分析了所提出的任务，将T-DOM分类体系与先前已建立的操作分类体系进行比较。我们的分析表明，T-DOM能够有效区分其他分类体系未识别的操作技能，涵盖不同的可变形物体和操作动作，为表征技能提供了新的类别。所提出的分类体系显著扩展了以往的工作，提供了更细粒度的分类，可用于描述可变形物体的机器人操作。这项工作为推进可变形物体操作奠定了基础，在机器人系统中架起了理论理解与实际实现之间的桥梁。
英文摘要：
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the development of manipulation algorithms. The existing grasp and manipulation taxonomies, however, often assume object rigidity, which limits their ability to reason about the complex interactions in the robotic manipulation of deformable objects. Hence, to assist in tasks involving deformable objects, taxonomies need to capture more comprehensively the interactions inherent in deformable object manipulation. To this end, we introduce T-DOM, a taxonomy that analyses key aspects involved in the manipulation of deformable objects, such as robot motion, forces, prehensile and non-prehensile interactions and, for the first time, a detailed classification of object deformations. To evaluate T-DOM, we curate a dataset of ten tasks involving a variety of deformable objects, such as garments, ropes, and surgical gloves, as well as diverse types of deformations. We analyse the proposed tasks comparing the T-DOM taxonomy with previous well established manipulation taxonomies. Our analysis demonstrates that T-DOM can effectively distinguish between manipulation skills that were not identified in other taxonomies, across different deformable objects and manipulation actions, offering new categories to characterize a skill. The proposed taxonomy significantly extends past work, providing a more fine-grained classification that can be used to describe the robotic manipulation of deformable objects. This work establishes a foundation for advancing deformable object manipulation, bridging theoretical understanding and practical implementation in robotic systems.
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。
