穿着外套：基于可微服装模拟的双臂机器人辅助穿衣
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
- Department of Automation, Shanghai Jiao Tong University（上海交通大学自动化系）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
研究针对机器人辅助穿衣中衣物与人体四肢复杂接触交互的问题，提出集成实时可微服装模拟的控制算法，经模拟和实验验证，该算法能解决接触约束下服装状态问题，实现多阶段控制策略，证明了其可行性和有效性。
AI中文摘要：
用于穿衣任务的辅助机器人的发展旨在增加人类便利性并改善身体有缺陷者的生活质量。然而，由于穿衣过程中衣物与人体四肢之间复杂的接触交互，大多数机器人辅助穿衣算法将衣物视为离散部分的集合，难以处理接触约束下部分穿着的衣物。为克服这一挑战，我们提出一种集成实时可微服装模拟的新型机器人穿衣控制算法。该模拟算法采用显式迭代方案并有意引入高阶扰动，以提高计算效率并在大时间步长条件下保持稳定性。通过模拟，我们解决了接触约束下的服装状态，从而实现了成功穿外套辅助的多阶段控制策略。为进一步提高实时性能，我们引入了约束局部模型及其相应的优化求解器，允许对基于可微模拟的全局控制器进行高频局部补偿。最后，我们通过模拟和实际穿衣场景对我们的方法进行了实验验证，最终证明了其可行性和有效性。
英文摘要：
The development of assistive robots for dressing tasks serves to augment human convenience and improve the quality of life for individuals with physical impairments. However, due to the intricate contact interactions between garments and the human limbs during dressing, most robot-assisted dressing algorithms treat clothing as an assembly of discrete segments, thereby struggling to manage the partial worn garments under contact constraints. To overcome this challenge, we propose a novel robotic dressing control algorithm that integrates realtime differentiable clothing simulation. The simulation algorithm employs explicit iterative scheme with intentionally introduced higher-order perturbations to enhance computational efficiency while maintaining stability under large time-step conditions. Through simulation, we resolve the garment state under contact constraints, which then enables a multi-phase control strategy for successful coat dressing assistance. To further improve real-time performance, we introduce a constrained local model along with its corresponding optimization solver, permitting high-frequency local compensation for the differentiable simulation based global controller. Finally, we experimentally validate our approach through both simulated and physical dressing scenarios, conclusively demonstrating its feasibility and efficacy
