Related papers: Friction Estimation for In-Hand Planar Motion
The static as well as the dynamic behaviour of granular material are determined by dynamic {\it and} static friction. There are well known methods to include static friction in molecular dynamics simulations using scarcely understood…
The friction of a sliding plate on a thin immersed granular layer obeys Amonton-Coulomb law. We bring to the fore a large set of experimental results which indicate that, over a few decades of values, the effective dynamical…
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…
We discuss the role of the long-range elastic interaction between the contacts inside an inhomogeneous frictional interface. The interaction produces a characteristic elastic correlation length $\lambda_c = a^2 E / k_c$ (where $a$ is the…
We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
A MEMS-based sensing device is used to measure the normal and tangential stress fields at the base of a rough elastomer film in contact with a smooth glass cylinder in steady sliding. This geometry allows for a direct comparison between the…
This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper limb impairments. Operating within a collaborative grasping…
We report on measurements of the local friction law at a multi-contact interface formed between a smooth rubber and statistically rough glass lenses, under steady state friction. Using contact imaging, surface displacements are measured,…
External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
The ability to predict the object the user intends to grasp offers essential contextual information and may help to leverage the effects of point-to-point latency in interactive environments. This paper explores the feasibility and accuracy…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…