Related papers: Friction Estimation for In-Hand Planar Motion
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…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
The accurate online estimation of the road-friction coefficient is an essential feature for any advanced brake control system. In this study, a data-driven scheme based on a MLP Neural Net is proposed to estimate the optimum friction…
Estimation of interactive forces, which are mostly unavailable for direct measurement on the interface between a system and its environment, is an essential task in various motion control applications. This paper proposes an interactive…
By solving the equilibrium equations for a polymer in a neutral polymer brush, the degree of interpenetration of two polymer brushes in contact and near contact is calculated. These results are used to calculate values of the force of…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article…
A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently,…
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
Numerical simulations of the dynamics of an elastic collision between a rigid sphere and an elastic half-space are carried out. We assume an Amontons-Coulomb frictional force with a fixed coefficient of friction between the contacting…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…
Digital Image Correlation is used to study the micromechanics of a multi-contact interface formed between a rough elastomer and a smooth glass surface. The in-plane elastomer deformation is monitored during the incipient sliding regime,…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…
Previous studies have aimed at creating a simple hardware implementation of surface friction display. In this study, we propose a new method for presenting static frictional sensation using the pseudo-haptic effect as a first attempt, which…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…
The sliding friction force exerted by stochastic linkers interacting with a moving filament is calculated. The elastic properties of the substrate on which the linkers are anchored are shown to strongly influence the friction force. In some…