This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effectively explores the space of continuous pushes with discrete pusher contact switch-overs. We model the frictional interaction between gripper, grasp...

In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. Inprevious papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, inwhich each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed withre...

there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...

This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be c...

Cohesive-frictional and rough powders are the subject of this study. The behavior under isotropic compression is examined for different material properties involving Coulomb friction, rolling-resistance and contact-adhesion. Under isotropic compression, the density continuously increases according to Bauers exponential law, see Ref. (Bauer 1999). However, at a certain pressure/density, the beha...

The three-dimensional evolutionary problem of rolling/sliding of a linear elastic body on a linear elastic substrate is studied. The inertial properties of the body regarded as rigid are accounted for. By employing an asymptotic analysis, it is shown that the process can be divided into two phases: transient and quasistationary. An expression for the frictional force as a function of the extern...

AbstmctThis paper addresses a three-dimensional implementation that results in several separate manipulators, each with intermittent contact with a central object of known geometry, cooperatively manipulating the object to a desired new position and orientation. Rolling control of an object using redundant contact of several independent manipulators is made difficult by the hybrid nature of thi...

If a wheel rolling over a rail transmits a tangential traction, frictional microslip occurs in part of the contact area, resulting in energy dissipation and localized wear. If the applied forces oscillate in time, the resulting wear will be non-uniform, resulting in ‘corrugations’ that can grow with progressive passes, depending on the dynamics of the overall system. In this paper, a linear per...

We address global motion planning for quasi-static reorientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple humanlike manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (with regard to the palm)—an extended version of the original finger-tracking scheme of Rus. This new ve...