Efficient Equilibrium Testing under Adhesion and Anisotropy Using Empirical Contact Force Models


Journal Article

© 2004-2012 IEEE. This paper presents a method for efficiently testing the stability of an object under contact that accommodates empirical models of admissible forces at individual contact points. It handles a diverse range of possible geometries of the admissible force volume, including anisotropy, adhesion, and even nonconvexity. The method discretizes the contact region into patches, performs a convex decomposition of a polyhedral approximation to each admissible force volume, and then formulates the problem as a mixed integer linear program. The model can also accommodate articulated robot hands with torque limits and joint frictions. Predictions of our method are evaluated experimentally in object lifting tasks using a gripper that exploits microspines to exert strongly anisotropic forces. The method is applied to calculate gripper loading capabilities and equilibrium predictions for a quadruped climbing robot on steep and overhanging terrain.

Full Text

Duke Authors

Cited Authors

  • Hauser, K; Wang, S; Cutkosky, MR

Published Date

  • October 1, 2018

Published In

Volume / Issue

  • 34 / 5

Start / End Page

  • 1157 - 1169

International Standard Serial Number (ISSN)

  • 1552-3098

Digital Object Identifier (DOI)

  • 10.1109/TRO.2018.2831722

Citation Source

  • Scopus