A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
复制标题
DOI：
10.15607/rss.2017.xiii.040
复制
发表时间：
2017-05
期刊：
影响因子：
--
通讯作者：
Jiaji Zhou;J. Bagnell;M. T. Mason
中科院分区：
文献类型：
--
作者：
Jiaji Zhou;J. Bagnell;M. T. Mason
基于准静态滑动的凸力-运动多项式模型，推导出运动学接触模型，以确定位置控制机械手在支撑面上的接触模式和瞬时物体运动。固有的随机对象表面摩擦分布的建模从适当的分布采样物理上一致的参数，只有一个参数来控制噪声量。由于凸多项式模型的高保真度和光滑度，贴片接触的力学被捕获，同时计算效率高，无需在支撑点处进行模式选择。给出了单摩擦接触和多摩擦接触的运动方程。基于该模型的仿真通过机器人的推取实验进行了验证。
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 manipulator. The inherently stochastic object-to-surface friction distribution is modelled by sampling physically consistent parameters from appropriate distributions, with only one parameter to control the amount of noise. Thanks to the high fidelity and smoothness of convex polynomial models, the mechanics of patch contact is captured while being computationally efficient without mode selection at support points. The motion equations for both single and multiple frictional contacts are given. Simulation based on the model is validated with robotic pushing and grasping experiments.