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TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation — arXiv:2609.28766

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.28766
License (as archived): CC0-1.0
Archived: 2026-10-08T07:16:24.311Z
SHA-256 of the archived text: 3eee2d0aaf69a27d462cc7087e9fd2f145da96f9ee2ae7188f9a91eebe36f024
Stable URL of this page: https://metraipolis.com/documento/dc_31dc64f45c19

How to cite

TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation — arXiv:2609.28766 — arXiv (en), https://arxiv.org/abs/2609.28766 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_31dc64f45c19 (Metraipolis archive dc_31dc64f45c19, sha256 3eee2d0aaf69a27d462cc7087e9fd2f145da96f9ee2ae7188f9a91eebe36f024)

BibTeX

@misc{dc31dc64f45c19,
  title = {TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation — arXiv:2609.28766},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.28766},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_31dc64f45c19; sha256 3eee2d0aaf69a27d462cc7087e9fd2f145da96f9ee2ae7188f9a91eebe36f024},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.28766. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-25 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Graphics (cs.GR).
Pagina del lavoro: https://arxiv.org/abs/2609.28766 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T06:38:53.731Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).