TAPESIM：面向机器人操作的胶带分配高效仿真

中文摘要 AI 辅助

将胶带应用于固定线束或密封包装，要求机器人协调柔性条带、移动卷筒以及可附着和分离的表面。仿真可使这些交互对机器人开发和评估具有可重复性，但解析每一粘附层代价高昂，且在实际求解器容差下可能抑制卷筒运动，而永久刚性的卷筒则无法释放材料。我们提出 TapeSim，一种将变形集中在退绕区域和已释放条带附近的胶带仿真器。我们将发布源代码。一个刚性簇表示大部分缠绕材料，而一个前进的可变形套环实现放卷，并使释放的胶带保持柔性和可重新附着。可选的可释放键简化粘附界面，并减少较小卷筒的平均步进时间。受控摆动测试显示卷筒旋转得到改善。在 32 圈时，聚类在固定牛顿容差下实现 3.2-3.4 倍的平均物理步进加速，在可比卷筒运动下实现 4.5-8.4 倍加速。在五次真实运动 Stick 回放中，聚类变体相对于全壳内聚基线将图像平面核心地标误差平均降低 23-29%。在 100 个配对 Peel 案例中，它们将平衡准确率从 50% 提高到 72.9-76.3%，界面排名因任务而异。一个遥操作的封箱序列演示了连续工作流程中的附着、分配、切割和密封。

英文摘要

Applying adhesive tape to secure wire harnesses or seal packages requires robots to coordinate a flexible strip, a moving roll, and surfaces that attach and detach. Simulation could make these interactions repeatable for robot development and evaluation, but resolving every adhesive layer is expensive and can suppress roll motion at practical solver tolerances, while a permanently rigid roll cannot release material. We present TapeSim, a tape simulator that concentrates deformation near the unwinding region and along the released strip. We will release the source code. A rigid cluster represents most wound material, while an advancing deformable collar enables payout and leaves released tape flexible and reattachable. Optional releasable bonds simplify adhesive interfaces and reduce mean step times for smaller rolls. Controlled swing tests show improved roll rotation. At 32 turns, clustering gives 3.2-3.4x mean physics-step speedups at a fixed Newton tolerance and 4.5-8.4x for comparable roll motion. Across five real-motion Stick replays, the clustered variants reduce mean image-plane core-landmark error by 23-29% relative to the full-shell cohesive baseline. On 100 paired Peel cases, they improve balanced accuracy from 50% to 72.9-76.3%, with interface rankings varying across tasks. A teleoperated box-sealing sequence demonstrates attachment, dispensing, cutting, and sealing in a continuous workflow.

发表机构

• Carnegie Mellon University（卡内基梅隆大学）
• Genesis AI

机构由 AI 辅助整理，请以论文原文为准。