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Contact Modeling and Manipulation

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Springer Handbook of Robotics

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Abstract

Robotic manipulators use contact forces to grasp and manipulate objects in their environments. Fixtures rely on contacts to immobilize workpieces. Mobile robots and humanoids use wheels or feet to generate the contact forces that allow them to locomote. Modeling of the contact interface, therefore, is fundamental to analysis, design, planning, and control of many robotic tasks.

This chapter presents an overview of the modeling of contact interfaces, with a particular focus on their use in manipulation tasks, including graspless or nonprehensile manipulation modes such as pushing. Analysis and design of grasps and fixtures also depends on contact modeling, and these are discussed in more detail in Chap. 38. Sections 37.2–37.5 focus on rigid-body models of contact. Section 37.2 describes the kinematic constraints caused by contact, and Sect. 37.3 describes the contact forces that may arise with Coulomb friction. Section 37.4 provides examples of analysis of multicontact manipulation tasks with rigid bodies and Coulomb friction. Section 37.5 extends the analysis to manipulation by pushing. Section 37.6 introduces modeling of contact interfaces, kinematic duality, and pressure distribution and soft contact interface. Section 37.7 describes the concept of the friction limit surface and illustrates it with an example demonstrating the construction of a limit surface for a soft contact. Finally, Sect. 37.8 discusses how these more accurate models can be used in fixture analysis and design.

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Abbreviations

3-D:

three-dimensional

CCW:

counterclockwise

COR:

center of rotation

CP:

complementarity problem

CW:

clockwise

DOF:

degree of freedom

LCSP:

linear constraint satisfaction program

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Authors and Affiliations

  1. Department of Mechanical Engineering, Stony Brook University, 167 Light Engineering, NY 11794-2300, Stony Brook, USA

    Imin Kao

  2. Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, IL 60208, Evanston, USA

    Kevin M. Lynch

  3. Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, CA 9112, Pasadena, USA

    Joel W. Burdick

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  1. Imin Kao
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  2. Kevin M. Lynch
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  3. Joel W. Burdick
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Correspondence to Imin Kao .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Pushing, sliding, and toppling available from http://handbookofrobotics.org/view-chapter/37/videodetails/802

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Horizontal Transport by 2-DOF Vibration available from http://handbookofrobotics.org/view-chapter/37/videodetails/803

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Programmable Velocity Vector Fields by 6-DOF Vibration available from http://handbookofrobotics.org/view-chapter/37/videodetails/804

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Kao, I., Lynch, K.M., Burdick, J.W. (2016). Contact Modeling and Manipulation. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_37

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