A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
| Autor: | James Andrew Bagnell, Jiaji Zhou, Matthew T. Mason |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Mechanical engineering 02 engineering and technology Experimental validation Contact model Computer Science - Robotics 020901 industrial engineering & automation Planar 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Robotics (cs.RO) ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Robotics: Science and Systems |
| DOI: | 10.48550/arxiv.1705.10664 |
| Popis: | 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 supporting surface given a position controlled manipulator. The inherently stochastic object-to-surface friction distribution is modelled by sampling physically consistent parameters from appropriate distributions, with only one parameter to control the amount of noise. Thanks to the high fidelity and smoothness of convex polynomial models, the mechanics of patch contact is captured while being computationally efficient without mode selection at support points. The motion equations for both single and multiple frictional contacts are given. Simulation based on the model is validated with robotic pushing and grasping experiments. Comment: Robotics: Science and Systems 2017 |
| Databáze: | OpenAIRE |
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