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