Identification of Contact Parameters from Stiff Multi-point Contact Robotic Operations

Identification of Contact Dynamics Model Parameters from Constrained Robotic Operations

With the fast advances in computing technology, contact dynamics simulations are playing a more important role in the design, verification, and operation support of space systems. The validity of computer simulation depends not only on the mathematical models but also on the model parameters. This paper describes a novel strategy of identifying contact dynamics parameters based on the sensor da...

Multi-contact bipedal robotic locomotion

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing ...

Contact Point Identification in Multi-Fingered Grasps Exploiting Kinematic Constraints

Most of the algorithms used in grasp planning, force optimization and control of multifingered hands need information about the points of contact with a grasped object as well as the normal of the surface in the contact point. With no image processing, this information is gained from tactile sensor arrays, multidimensional force/torque sensors or a priori knowledge. This paper presents a method...

Robotic Grasp Optimization from Contact Force Analysis

The ability to quantitatively assess grasp performance is essential both in off-line planning of grasps for robotic manipulation as in evaluating on-line executed grasps. Until now most existing metrics rely on force-closure tests that are limited in scope. We propose a grasp quality metric that provides sensible performance criteria even in non-force-closure grasps. It is based in two improvem...

Point of Contact