The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is evident in the realm of cloth manipulation, accurately categorising and comprehending them in real-world applications remains elusive. This study sets out to address two primary objectives: (1) to provide a framework suitable for robotics applications to characterise cloth objects, and (2) to study how these properties influence robotic manipulation tasks. Our preliminary results validate the framework's ability to characterise cloth properties and compare cloth sets, and reveal the influence that different properties have on the outcome of five manipulation primitives. We believe that, in general, results on the manipulation of clothes should be reported along with a better description of the garments used in the evaluation. This paper proposes a set of these measures.

翻译：机器人领域在处理可变形物体时面临固有挑战，尤其是在理解和标准化织物的弹性、刚度和摩擦等特性方面。尽管这些特性在布料操作领域的重要性显而易见，但在实际应用中准确分类和理解它们仍难以实现。本研究旨在达成两个主要目标：（1）为机器人应用提供一个适用于表征布料物体的框架；（2）研究这些特性如何影响机器人操作任务。我们的初步结果验证了该框架表征布料特性和比较布料集合的能力，并揭示了不同特性对五种操作基元结果的影响。我们相信，一般而言，布料操作的研究结果应伴随对所使用服装的更好描述进行报告。本文提出了这样一组测量指标。