Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags. In contrast, manipulation of large-scale cloth, such as bed making and tablecloth spreading, poses additional challenges of reachability and manipulation control. To address them, this paper presents a novel framework to spread large-scale cloth, with a single-arm mobile manipulator that can solve the reachability issue, for an initial feasibility study. On the manipulation control side, without modeling highly deformable cloth, a vision-based manipulation control scheme is applied and based on an online-update Jacobian matrix mapping from selected feature points to the end-effector motion. To coordinate the control of the manipulator and mobile platform, Behavior Trees (BTs) are used because of their modularity. Finally, experiments are conducted, including validation of the model-free manipulation control for cloth spreading in different conditions and the large-scale cloth spreading framework. The experimental results demonstrate the large-scale cloth spreading task feasibility with a single-arm mobile manipulator and the model-free deformation controller.

翻译：布料操作常见于家庭和服务任务中，大多数研究使用固定基座机械臂来操作尺寸相对于工作空间较小的物体，如毛巾、衬衫和抹布。相比之下，大规模布料的操作（如铺床和铺桌布）对可达性和操作控制提出了额外挑战。为解决这些问题，本文提出了一种新颖的大规模布料展开框架，采用单臂移动机械臂解决可达性问题，作为初始可行性研究。在操作控制方面，无需对高度可变形布料进行建模，而是应用了基于视觉的操作控制方案，该方案基于在线更新的雅可比矩阵，将选定特征点映射到末端执行器运动。为了协调机械臂和移动平台的控制，本文采用了行为树（BTs），因其模块化特性。最后，进行了实验，包括在不同条件下验证无模型操作控制用于布料展开，以及大规模布料展开框架。实验结果证明了使用单臂移动机械臂进行大规模布料展开任务的可行性，以及无模型形变控制器的有效性。