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Quasi-static analysis of planar sliding using friction patches
The International Journal of Robotics Research ( IF 9.2 ) Pub Date : 2020-06-24 , DOI: 10.1177/0278364920929082
M. Mahdi Ghazaei Ardakani 1 , Joao Bimbo 1 , Domenico Prattichizzo 1, 2
Affiliation  

Flat objects lying on a surface are hard to grasp, but could be manipulated by sliding along the surface in a non-prehensile manner. This strategy is commonly employed by humans as pre-manipulation, for example to bring a cell phone to the edge of a table to pick it up. To endow robots with a similar capability, we introduce a mathematical model of planar sliding by means of a soft finger. The model reveals various aspects of interaction through frictional contacts, which can be used for planning and control. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object and the interaction forces. The conditions for which the object sticks to the friction patch, pivots, or completely slides against it are obtained. It is possible to find fixed points of the system and the path taken by the object to reach such configurations. Theoretical as well as comprehensive experimental results are presented.

中文翻译:

使用摩擦片进行平面滑动的准静态分析

位于表面上的扁平物体难以抓握,但可以通过以非抓握的方式沿着表面滑动来操纵。这种策略通常被人类用作预先操作,例如将手机带到桌子边缘以捡起它。为了赋予机器人类似的能力,我们引入了一种通过软手指进行平面滑动的数学模型。该模型通过摩擦接触揭示交互的各个方面,可用于规划和控制。具体来说,使用准静态分析,我们能够推导出一个混合动力系统来预测物体的运动和相互作用力。获得物体粘在摩擦片上、枢转或完全滑动的条件。可以找到系统的固定点和物体到达这种配置所采取的路径。给出了理论和综合实验结果。
更新日期:2020-06-24
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