Quasistatic Manipulation with Compliance and Sliding

Abstract

We propose a method for modeling dextrous manipulation with sliding fingers. The approach combines compliance and friction limit surfaces. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning how to control the fingers so that the grasped object will follow a desired trajectory. The sliding trajectories are characterized by a transient and steady-state solution. The underlying theory is first dis cussed and illustrated with several single-finger examples. Experimental results are also presented. The analysis is then extended to grasps with multiple sliding and nonslid ing fingers. The multifinger analysis is illustrated with an example of manipulating a card with two soft-contact fingers.

Prehensile pushing: In-hand manipulation with push-primitives

“…In particular, the idea of allowing contact slip to enhance in-hand manipulation has been explored in the context of prehensile manipulation [11,16,17,18,19]. Specially related to our work, Brock [11] studies reorienting a grasped object using contacts from the environment.…”

Towards a Realistic and Self-Contained Biomechanical Model of the Hand

“…There may be multiple solutions to a particular problem (ambiguity) or there may be no solutions (inconsistency) (Erdmann, 1994). Finally, the soft contact model is used to model the contact between a soft finger and a rigid object allowing the finger to apply an additional torsional moment with respect to the normal at the contact point (Ciocarlie et al, 2005(Ciocarlie et al, , 2007Howe et al, 1988;Howe & Cutkosky, 1996;Kao & Cutkosky, 1992;Kao & Yang, 2004). A typical contact between a soft finger and a contact surface can be modelled by the Hertzian contact model (Hertz, 1882;Johnson, 1985).…”

Grasp modelling with a biomechanical model of the hand

“…Point contact models, also named rigid-body contact models, assume rigid-body models for the hand and the grasped object while the soft-finger contact models, also called compliant or regularised models, assume that the hand is a deformable element grasping a rigid body (Kao et al 2008). The soft contact model allows the finger to apply an additional torsional moment with respect to the normal at the contact point (Ciocarlie et al 2005(Ciocarlie et al , 2007Howe et al 1988;Howe and Cutkosky 1996;Kao and Cutkosky 1992;Kao and Yang 2004). Unlike robot hands, human fingers conform to the grasped object shape, then only the soft-finger contact might be applied to the study of the human grasp.…”