Related papers: Passive Static Equilibrium with Frictional Contact…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
If a linear switching system with frequent switches is stable, will it be stable under arbitrary switches? In general, the answer is negative. Nevertheless, this question can be answered in an explicit form for any concrete system. This is…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
Solution procedures for establishing the regimes of stick and slip for frictional contacts capable of idealisation within the framework of half-plane elasticity and subject to complex loading regimes are reviewed, starting with the well…
With an increasing demand for robots, robotic grasping will has a more important role in future applications. This paper takes grasp stability prediction as the key technology for grasping and tries to solve the problem with time series…
We study the problem of finding solutions to the stable matching problem that are robust to errors in the input and we obtain a polynomial time algorithm for a special class of errors. In the process, we also initiate work on a new…
The onset of frictional motion is mediated by rupture-like slip fronts, which nucleate locally and propagate eventually along the entire interface causing global sliding. The static friction coefficient is a macroscopic measure of the…
A mechanical system consisting of an elastic beam under harmonic excitation and an attached sliding body is investigated. Recent experimental observations suggest that the system passively (self-)adapts the axial location of the slider to…
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…
Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…
Conventional approaches to grasp planning require perfect knowledge of an object's pose and geometry. Uncertainties in these quantities induce uncertainties in the quality of planned grasps, which can lead to failure. Classically, grasp…
In this paper, the stability of longitudinal vibrations for transmission problems of two smart-system designs are studied: (i) a serially-connected Elastic-Piezoelectric-Elastic design with a local damping acting only on the piezoelectric…
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
This article proposes a non-autonomous mathematical model with delay for confrontation between two countries, and examines the stability of its equilibrium state. Our criteria for stability take into account the influence of the factor of…