2019/02/09 by Mathew Halm, Michael Posa, Halm, Mathew +1
Engineering · #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1902.03487
openalex publication_date 2019/02/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Quasi-static models of robotic motion with frictional contact provide a\ncomputationally efficient framework for analysis and have been widely used for\nplanning and control of non-prehensile manipulation. In this work, we present a\nnovel quasi-static model of planar manipulation that directly maps commanded\nmanipulator velocities to object motion. While quasi-static models have\ntraditionally been unable to capture grasping and jamming behaviors, our\napproach solves this issue by explicitly modeling the limiting behavior of a\nvelocity-controlled manipulator. We retain the precise modeling of surface\ncontact pressure distributions and efficient computation of contact-rich\nbehaviors of previous methods and additionally prove existence of solutions for\nany desired manipulator motion. We derive continuous and time-stepping\nformulations, both posed as tractable Linear Complementarity Problems (LCPs).\n