相关论文: Quasi-static Analysis of Planar Sliding Using Fric…

Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…

Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…

This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…

In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…

We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending…

We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class.…

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…

We investigate a one-dimensional model describing the motion of liquid drops sliding down an inclined plane (the so-called quasi-static approximation model). We prove existence and uniqueness of a solution and investigate its long time…

In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine…

We investigate a model for the dynamics of a solid object, which moves over a randomly vibrating solid surface and is subject to a constant external force. The dry friction between the two solids is modeled phenomenologically as being…

We introduce a model of friction between two contacting (stationary or co-sliding) rough surfaces, each comprising a random ensemble of polydisperse hemispherical bumps. In the simplest version of the model, the bumps experience on contact…

Fracture involves interaction across large and small length scales. With the application of enough stress or strain to a brittle material, atomistic scale bonds will break, leading to fracture of the macroscopic specimen. From the…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…

We present a minimal quasistatic 1D model describing the kinematics of the transition from static friction to stick-slip motion of a linear elastic block on a rigid plane. We show how the kinematics of both the precursors to frictional…

This paper presents the stability analysis of a system sliding at low velocities ($< 100 \mu$m.s$^{-1}$) under a periodically modulated normal load, preserving interfacial contact. Experiments clearly evidence that normal vibrations…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…

Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…

We analyze the frictionless motion of a point-like particle that slides under gravity on an inverted conical surface. This motion is studied for arbitrary initial conditions and a general relation, valid within 13%, between the periods of…