Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
复制标题
DOI：
10.15607/rss.2019.xv.022
复制
发表时间：
2019-02
期刊：
影响因子：
--
通讯作者：
Mathew Halm;Michael Posa
中科院分区：
文献类型：
--
作者：
Mathew Halm;Michael Posa
机器人技术中的许多基本挑战，基于操纵或运动，需要与环境建立和断开接触。为了表示摩擦接触事件的复杂性，脉冲冲击模型特别受欢迎，因为它们通常导致数学和计算上易于处理的方法。然而，当两个或两个以上的撞击同时发生时，撞击力的精确顺序通常是未知的，从而导致可能出现多种结果。这种不确定性远非病态，并且发生在许多常见的机器人应用中。在这项工作中，我们提出了一种方法来解决同时摩擦的影响，表示为一个微分包含。我们的模型的解决方案，延伸到多个接触的劳斯的方法，自然捕获的一组潜在的冲击后的速度。我们证明，解决方案的模型必须终止。据我们所知，这是第一个这样的保证集值的结果，同时摩擦的影响。
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially popular, as they often lead to mathematically and computationally tractable approaches. However, when two or more impacts occur simultaneously, the precise sequencing of impact forces is generally unknown, leading to the potential for multiple possible outcomes. This simultaneity is far from pathological, and occurs in many common robotics applications. In this work, we propose an approach for resolving simultaneous frictional impacts, represented as a differential inclusion. Solutions to our model, an extension to multiple contacts of Routh's method, naturally capture the set of potential post-impact velocities.We prove that solutions to the presented model must terminate. This is, to the best of our knowledge, the first such guarantee for set-valued outcomes to simultaneous frictional impacts.