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[Submitted on 23 Sep 2026] Title:TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation View a PDF of the paper titled TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation, by Zhaofeng Luo and 12 other authors View PDF HTML (experimental) Abstract: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. Subjects: Robotics (cs.RO); Graphics (cs.GR) Cite as: arXiv:2609.28766 [cs.RO] (or arXiv:2609.28766v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.28766 arXiv-issued DOI via DataCite (pending registration) Submission history From: Zhaofeng Luo [view email] [v1] Wed, 23 Sep 2026 20:25:04 UTC (3,009 KB) Full-text links: Access Paper: View a PDF of the paper titled TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation, by Zhaofeng Luo and 12 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.GR References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)