Corpus ID: 202578161

Non-Planar Frictional Surface Contacts: Modeling and Application to Grasping

  title={Non-Planar Frictional Surface Contacts: Modeling and Application to Grasping},
  author={Jingyi Xu and Tamay Aykut and Daolin Ma and Eckehard G. Steinbach},
Contact modeling is essential for robotic grasping and manipulation. The relation between friction and relative body motion is fundamental for controlled pushing. An accurate friction model is indispensable for grasp analysis as the stability heavily relies on friction. To increase the grasp stability, soft fingers are widely deployed for manipulation tasks as they adapt to the object geometry, where the deformability results in a curved contact area. The friction of such curved surfaces is in… Expand
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects
This work introduces an efficient algorithm to compute the work required to resist an external wrench for a manipulation task by solving a linear program and proposes minimal work as a novel grasp quality metric that combines wrench resistance and object deformation. Expand


Grasping posture estimation for a two-finger parallel gripper with soft material jaws using a curved contact area friction model
A friction model for the curved contact area between a deformable object and soft parallel gripper jaws for grasping posture estimation and shows a grasp quality map and the best possible grasp location for several deformable objects. Expand
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
  • M. Ciocarlie, C. Lackner, P. Allen
  • Engineering, Computer Science
  • Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)
  • 2007
This paper presents a method for building analytical contact models for soft fingers that captures frictional effects such as coupling between tangential force and frictional torque by analyzing manipulation tasks performed by an anthropomorphic robotic hand equipped with soft fingerpads. Expand
Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results
A new theory in contact mechanics for modeling of soft fingers is proposed to define the relationship between the normal force and the radius of contact for soft fingers by considering generalExpand
Planar sliding with dry friction Part 1. Limit surface and moment function
Abstract We present two geometric descriptions of the net frictional force and moment between a rigid body and a planar surface on which it slides. The limit surface, from classical plasticityExpand
A review of modeling of soft-contact fingers and stiffness control for dextrous manipulation in robotics
  • Yanmei Li, I. Kao
  • Engineering, Computer Science
  • Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
  • 2001
The recent progress in the modeling of dextrous manipulation utilizing soft contacts and stiffness control is presented and the result augments the well-known Hertzian contact model from linear elastic contacts to soft contacts. Expand
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supportingExpand
The Kinematics of Contact and Grasp
  • D. Montana
  • Mathematics, Computer Science
  • Int. J. Robotics Res.
  • 1988
The relation ship between the relative motion of two fingers grasping an object and the motion of the points of contact over the object surface is derived and the following applications are explored. Expand
Fingertip Surface Optimization for Robust Grasping on Contact Primitives
This work proposes a uniform cost algorithm, which is formulated as a decision making process in a tree structure, to cluster a set of example grasp contacts into a finite set of Contact Primitives, and provides an efficient algorithm to generate grasp contacts that match the fingertip geometries while together forming stable grasps. Expand
Stability of soft-finger grasp under gravity
It is shown that a quality measure of a soft-finger grasp is defined by assuming that although the gravitational force is applied to an object, the direction of gravity is unknown and the pressure distribution within the contact area is obtained. Expand
Constructing force-closure grasps
  • V.-D. Nguyen
  • Mathematics, Computer Science
  • Proceedings. 1986 IEEE International Conference on Robotics and Automation
  • 1986
The force closure constraint is addressed from three different points of view: mathematics, physics, and computational geometry, and the last formulation results in fast and simple polynomial time algorithms for directly constructing force closure grasps. Expand