Related papers: Friction Estimation for In-Hand Planar Motion
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
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…
Sliding friction across a thin soft lubricant film typically occurs by stick-slip, the lubricant fully solidifying at stick, yielding and flowing at slip. The static friction force per unit area preceding slip is known from molecular…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…
Frictional sliding along an interface between two identical isotropic elastic plates under impact shear loading is investigated experimentally and numerically. The plates are held together by a compressive stress and one plate is subject to…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…
The nonlinear dynamics associated with sliding friction forms a broad interdisciplinary research field that involves complex dynamical processes and patterns covering a broad range of time and length scales. Progress in experimental…
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…
Based on the plenty method, this paper describes a numerical method for 2D non-smooth contact problems with Coulomb friction and bilateral constraints and its application to the simulation of statics and dynamics for a frictional…
The key parameter for describing frictional strength at the onset of sliding is the static friction coefficient. Yet, how the static friction coefficient emerges at the macroscale from contacting asperities at the microscale is still an…
The transition from static to dynamic friction when an elastic body is slid over another is now known to result from the motion of interface rupture fronts. These fronts may be either crack-like or pulse-like, with the latter involving…
Dry solid friction is often accompanied by force modulations originating from stick-slip instabilities. Here a distinct, quasi-static mechanism is evidenced leading to quasi-periodic force oscillations during sliding contact between an…
We consider the effect of differing coefficients of static and dynamic friction coefficients on the behaviour of contacts involving microslip. The classic solutions of Cattaneo and Mindlin are unchanged if the transition in coefficients is…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
We describe a 2D spring-block model for the transition from static to kinetic friction at an elastic slider/rigid substrate interface obeying a minimalistic friction law (Amontons-Coulomb). By using realistic boundary conditions, a number…
Analytical and numerical modelling of the nonlinear interaction of shear wave with a frictional interface is presented. The system studied is composed of two homogeneous and isotropic elastic solids, brought into frictional contact by…