Quasi-static analysis of planar sliding using friction patches

Ardakani, M. Mahdi Ghazaei; Bimbo, João; Prattichizzo, Domenico

doi:10.1177/0278364920929082

Cited by 11 publications

(9 citation statements)

References 26 publications

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“…Since the area of the part of the hand in touch with the object is not negligible, torsional friction can transmit through the contact, preventing the rotation of the object when the amount of torque generated is low. This is referred to as a “sticking” behavior characterized in Ghazaei Ardakani et al ( 2019 ). To approximate this behavior, we set ω = 0 when the norm of the vector

is below a certain threshold or when

and

are almost parallel.…”

Section: Methodsmentioning

confidence: 99%

“…The sliding part bears similarity to pushing experiments (Lynch et al, 1992 ; Zhou et al, 2017 ). However, it is best described by the model presented in Ghazaei Ardakani et al ( 2019 ).…”

Section: Methodsmentioning

confidence: 99%

“…In this strategy, the robot hand drags the object toward the edge while allowing it to reorient with respect to the hand until a desired final pose on the edge of the table is reached. The sliding part of this strategy stems from some of the findings observed by the authors in Ghazaei Ardakani et al ( 2019 ), where the planar sliding of objects controlled by a friction patch was modeled. One of the main results was the fact that the angular velocity of an object pressed down by a soft finger can be controlled by the amount of the normal force.…”

Section: Methodsmentioning

confidence: 99%

“…These relations can be derived from the pushing result in Zhou et al ( 2017 ) or the approximate solution of Ghazaei Ardakani et al ( 2019 ) by assuming no torsional friction. Integrating Equations (3) and (6), we obtain the pose of the object q = [ x, y , θ] over time.…”

Section: Methodsmentioning

confidence: 99%

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Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

et al. 2019

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This paper presents a method to grasp objects that cannot be picked directly from a table, using a soft, underactuated hand. These grasps are achieved by dragging the object to the edge of a table, and grasping it from the protruding part, performing so-called slide-to-edge grasps. This type of approach, which uses the environment to facilitate the grasp, is named Environmental Constraint Exploitation (ECE), and has been shown to improve the robustness of grasps while reducing the planning effort. The paper proposes two strategies, namely Continuous Slide and Grasp and Pivot and Re-Grasp, that are designed to deal with different objects. In the first strategy, the hand is positioned over the object and assumed to stick to it during the sliding until the edge, where the fingers wrap around the object and pick it up. In the second strategy, instead, the sliding motion is performed using pivoting, and thus the object is allowed to rotate with respect to the hand that drags it toward the edge. Then, as soon as the object reaches the desired position, the hand detaches from the object and moves to grasp the object from the side. In both strategies, the hand positioning for grasping the object is implemented using a recently proposed functional model for soft hands, the closure signature, whereas the sliding motion on the table is executed by using a hybrid force-velocity controller. We conducted 320 grasping trials with 16 different objects using a soft hand attached to a collaborative robot arm. Experiments showed that the Continuous Slide and Grasp is more suitable for small objects (e.g., a credit card), whereas the Pivot and Re-Grasp performs better with larger objects (e.g., a big book). The gathered data were used to train a classifier that selects the most suitable strategy to use, according to the object size and weight. Implementing ECE strategies with soft hands is a first step toward their use in real-world scenarios, where the environment should be seen more as a help than as a hindrance.

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is below a certain threshold or when

and

are almost parallel.…”

Section: Methodsmentioning

confidence: 99%

“…The sliding part bears similarity to pushing experiments (Lynch et al, 1992 ; Zhou et al, 2017 ). However, it is best described by the model presented in Ghazaei Ardakani et al ( 2019 ).…”

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

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Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

et al. 2019

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“…Previous theoretical investigations of a similar problem using a deterministic approach can be found in the literature, see for instance [23,24]. The frictional planar sliding problem also drives researches in various application scenarios, such as trajectory control in robotics [25,26], dynamics of tippe top [27,28] and the motion of rattleback [29] and billiard ball [30]. However, few papers have addressed the planar sliding problem in a stochastic framework.…”

Section: Introductionmentioning

confidence: 99%

Coefficient of friction random field modelling and analysis in planar sliding

Batou²,

Ouyang³

2021

Journal of Sound and Vibration

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The Nonsmooth Dynamics of Combined Slip and Spin Motion Under Dry Friction

Antali

Várkonyi

2022

J Nonlinear Sci

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We investigate the motion of rigid bodies subject to combined slipping and spinning over a rough flat surface in the presence of dry friction. Integration of Coulomb friction forces over the contact area gives rise to a dynamical system with an isolated discontinuity of codimension 3. Recent results about such vector fields are applied to the motion of flat bodies under the assumption of known, time-independent distributions of normal contact forces and to general bodies where kinematic constraints enforce a state-dependent normal contact force distribution with a discontinuity at the sticking state. In both cases, the equations of motion are transformed into a smooth slow–fast dynamical system. The fixed points of the fast flow indicate the possible directions of combined slip–spin motion immediately before a body stops. We also introduce an approximation of the frictional forces and moments by the leading-order term of a spherical harmonic expansion, which allows for an explicit formulation of the equations of motion. The approximate model captures important empirically observed features of the motion. It is proven analytically and illustrated by examples that the number of fixed points in the approximate model is 2, 4, or 6.

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Quasi-static analysis of planar sliding using friction patches

Cited by 11 publications

References 26 publications

Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

Coefficient of friction random field modelling and analysis in planar sliding

The Nonsmooth Dynamics of Combined Slip and Spin Motion Under Dry Friction

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