Title :
Squeeze grasping of deformable planar objects with segment contacts and stick/slip transitions
Author :
Feng Guo ; Huan Lin ; Yan-Bin Jia
Author_Institution :
Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA
Abstract :
Robotic grasping of a deformable object is difficult not simply due to the high computational cost of deformable modeling. More fundamentally, the difficulty lies in a wrench space that changes under deformation, with growing contact areas, and subject to varying slip/stick modes in these areas. This paper presents a grasping strategy by squeezing the object with two fingers. An analysis based on the finite element method (FEM) proves equilibrium and uniqueness of deformation during the action, and leads to a (improved) quadratic time deformation update from the displacements of as few as two contact nodes. An event-driven algorithm is then presented to track the contact regions during a squeeze, and determine the stick/slip mode of every node in contact. The contacts supply the constraints needed for deformation update using FEM. Several experiments with a Barrett Hand have been conducted for validation.
Keywords :
deformation; dexterous manipulators; finite element analysis; stick-slip; Barrett Hand; FEM; computational cost; contact areas; contact node displacements; contact regions; deformable planar objects; event-driven algorithm; finite element method; quadratic time deformation update; robotic grasping; segment contacts; squeeze grasping; stick-slip transitions; Deformable models; Equations; Finite element analysis; Force; Friction; Grasping; Strain;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631102