Practical force-motion models for sliding manipulation

International Journal of Robotics Research

Volumn 15, Issue 6, 1996, Pages 557-572

  Howe, Robert D ^a   Cutkosky, Mark R ^b  

^a HARVARD UNIVERSITY   (United States)

^b Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0003255688     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499601500603     Document Type: Article

References (40)

1. Alexander, J. C., and Maddocks, J. H. 1993. Bounds on the friction-dominated motion of a pushed object. Int. J. Robot. Res. 12(3):231-248.
2. Armstrong-Helouvry, B. 1991. Control of Machines with Friction. Norwell, MA: Kluwer Academic Publishers.
3. Armstrong-Helouvry, B., Dupont, P., and Canudas De Wit, C. 1994. A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica 30(7):1083-1138.
4. Bicchi, A., Bergamasco, M., Dario, P., and Fiorillo, A. 1988 (Zürich, February 2-4). Integrated tactile sensing for gripper fingers. Proc. 7th Int. Conf. on Robot Vision and Sensory Controls. Bedford, UK: IFS Publications and Berlin: Springer-Verlag.
5. Bicchi, A., Salisbury, J. K., and Brock, D. L. 1991 (Toulouse, France, June 25-27). Experimental evaluation of friction characteristics with an articulated robotic hand. In Chatila, R., and Hirzinger, G. (eds.): Experimental Robotics II: The Second International Symposium. New York: Springer-Verlag, pp. 153-167.
6. Brock, D. L. 1988 (Philadelphia, April 24-29). Enhancing the dexterity of a robot hand using controlled slip. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 249-251.
7. Brost, R. C. 1991. Analysis and planning of planar manipulation tasks. Ph.D. thesis. School of Computer Science, Carnegie Mellon University.
8. Cai, C. 1990 (Cincinnati, May 13-19). Control of a manipulator under multiple contacts between rigid curved surfaces. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 1356-1361.
9. Cole, A. A., Hsu, P., and Sastry, S. S. 1992. Dynamic control of sliding by robot hands for regrasping. IEEE Trans. Robot. Automation 8(1): 42-52.
10. Cutkosky, M. R., and Wright, P. 1986. Friction, stability and the design of robotic fingers. Int. J. Robot. Res. 5(4):20-37.
11. Drucker, D. C. 1954. Coulomb friction, plasticity, and limit loads. J. Applied Mechanics 21(1):71-74.
12. Dupont, P. E. 1993. The effect of friction on the forward dynamics problem. Int. J. Robot. Res. 12(2):164-179.
13. Erdmann, M. 1994. On a representation of friction in configuration space. Int. J. Robot. Res. 13(3):240-271.
14. Goyal, S. 1989. Planar sliding of a rigid body with dry friction: Limit surfaces and dynamics of motion. Ph.D. thesis. Department of Mechanical Engineering, Cornell University.
15. Goyal, S., Ruina, A., and Papadopoulos, J. 1991. Planar sliding with dry friction, part 1. Limit surface and moment function. Wear 143:307-330.
16. Howard, W. S., and Kumar, V. 1993 (Atlanta, May 2-6). A minimum principle for the dynamic analysis of systems with frictional contacts. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 437-142.
17. Jameson, J. W. 1985. Analytic techniques for automated grasp. Ph.D. thesis. Department of Mechanical Engineering, Stanford University.
18. Johansson, R. S., and Westling, G. 1987. Signals in tactile afferents from the fingers eliciting adaptive motor responses during precision grip. Exp. Brain Res. 66:141-154.
19. Johnson, K. L. 1985. Contact Mechanics. Cambridge, UK: Cambridge University Press.
20. Kao, I., and Cutkosky, M. R. 1992. Quasistatic manipulation with compliance and sliding. Int. J. Robot. Res. 11(1):20-40.
21. Kao, I., and Cutkosky, M. R. 1993. Comparison of theoretical and experimental force/motion trajectories for dextrous manipulation with sliding. Int. J. Robot. Res. 12(6):529-534.
22. Kerr, J., and Roth, B. 1986. Analysis of multifingered hands. Int. J. Robot. Res. 4(4):3-17.
23. Lee, S.-H. 1991. Concurrent fixture planning and analysis for machined parts. Ph.D. thesis. Department of Mechanical Engineering, Stanford University.
24. Lee, S.-H., and Cutkosky, M. R. 1991. Fixture planning with friction. ASME J. Engineering Industry 113(3):320-327.
25. Liu, C., and Paul, B. 1989. Fully developed sliding of rough surfaces. J. Tribology 111:445-451.
26. Lötstedt, P. 1981. Coulomb friction in two-dimensional rigid-body systems. Zeitschrift für Angewandte Mathematik und Mechanik 61:605-615.
27. Lynch, K. M. 1992 (Nice, France, May 12-14). The mechanics of fine manipulation by pushing. Proc. 1992 IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 2269-2276.
28. Lynch, K. M., and Mason, M. T. 1995. Pulling by pushing, slip with infinite friction, and perfectly rough surfaces. Int. J. Robot. Res. 14(2):174-183.
29. Mason, M. T. 1986. Mechanics and planning of manipulator pushing operations. Int. J. Robot. Res. 5(3):53-71.
30. Montana, D. J. 1988. The kinematics of contact and grasp. Int. J. Robot. Res. 7(3):17-32.
31. Peshkin, M. A. 1986, Planning robotic manipulation strategies for sliding objects. Ph.D. thesis. Department of Mechanical Engineering. Carnegie Mellon University.
32. Rao, A. S., and Goldberg, K. Y. 1993 (Atlanta, May 2-6). On the relation between friction and part shape in parallel-jaw grasping. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 461-466.
33. Rus, D. 1992 (Nice, France, May 12-14). Dexterous rotations of polyhedra. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 2758-2763.
34. Sakurai, H. 1990. Automatic setup planning and fixture design for machining. Ph.D. thesis. Department of Mechanical Engineering, Massachusetts Institute of Technology.
35. Schallamach, A. 1957. Friction and abrasion of rubber. Wear 1: 384-417.
36. Son, J. S., Monteverde, E. A., and Howe, R. D. 1994 (San Diego, May 8-13). A tactile sensor for localizing transient events in manipulation. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 471-476.
37. Sun, D., and Shi, X. 1995 (Nagoya, Japan, May 21-27). Coordination of two robots manipulating a flat object with sliding constraints. Proc. IEEE Int. Conf. on Robotics and Automation. New York: IEEE, pp. 1814-1819.
38. Tremblay, M. R., and Cutkosky, M. R. 1993 (Atlanta, May 2-6). Estimating friction using incipient slip sensing during a manipulation task. Proc. IEEE Int. Conf. on Robotics and Manipulation. New York: IEEE, pp. 363-368.
39. Trinkle, J. C., and Zeng, D. C. 1994. Prediction of the quasistatic planar motion of a contacted rigid body. IEEE Trans. Robot. Automation 11(2):229-246.
40. Whitney, D.E. 1982. Quasi-static assembly of compliantly supported parts. ASME J. Dynam. Sys. Meas. Control 104(1):65-77.