Enabling grasp action: Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

Dong, Huixu; Qiu, Chengfeng; Prasad, Dilip K.; Pan, Ye; Dai, Jian S.; Chen, I‐Ming

doi:10.1016/j.mechmachtheory.2019.01.019

Cited by 17 publications

(3 citation statements)

References 31 publications

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“…Singh and Ambike [31] also presented two metrics: grasp caliber and grasp intensity, to quantitatively decide the stability of a grasp. Dong et al [32] explored the evaluation of grasping quality, by constructing a model of grasp stiffness. This study is also a motivating factor in the development of the contact dynamics model in the present study.…”

Section: Review Of Previous Workmentioning

confidence: 99%

Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

et al. 2021

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A novel grasp optimization algorithm for minimizing the net energy utilized by a five-fingered humanoid robotic hand with twenty degrees of freedom for securing a precise grasp is presented in this study. The algorithm utilizes a compliant contact model with a nonlinear spring and damper system to compute the performance measure, called ‘Grasp Energy’. The measure, subject to constraints, has been minimized to obtain locally optimal cartesian trajectories for securing a grasp. A case study is taken to compare the analytical (applying the optimization algorithm) and the simulated data in MSC.Adams $^{^{\circledR}}$ , to prove the efficacy of the proposed formulation.

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Section: Review Of Previous Workmentioning

confidence: 99%

Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

et al. 2021

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“…Contact dynamics is omnipresent in many multibody applications, and in most of the cases the function of the systems depends on contact modeling process. Over the last decades, contact dynamics has been one of the most challenging and demanding areas of research in engineering that play a crucial role in vehicle systems, robotics, railway models, mechanisms and machinery, biomechanics, granular systems, toys, just to mention some examples under the framework of multibody systems [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Simulation of Frictional Contacts in Multi-rigid-Body Systems

Flores

2021

Multibody Mechatronic Systems

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Fictional contacts occur in many mechanical systems, and often affect their dynamic response, since the collisions cause a significant change the systems' characteristics, namely in terms of velocities. This work describes and compared different formulations to handle frictional contacts in multi-rigid-body dynamics. For that, regularized and non-smooth techniques are revisited. In a simple manner, the regularized methods describe the contact forces as a continuous function of the indentation, while the non-smooth formulations use unilateral constraints to model the contact problems, which prevent the indentation from occurring. The main motivation for the performing this study came from the permanent interest in developing computational models for the dynamic modeling of contactimpact events under the framework of multibody systems methodologies. The problem of modeling and simulating contacts with friction in multibody systems includes several steps, the definition of the contact geometry; the determination of the contact points; the resolution of the contact itself; and the evaluation of the transitions between different contact regimens. The last two aspects are investigated in this work within the context of contact dynamics. In the sequel of this process, an application example is utilized to show the effectiveness of the modelling process of contact problems in multibody systems. Finally, future developments and new perspectives for further developments related to contact-impact problems are presented and discussed in this study.

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“…High cost and high complexity design cannot enable robotic grippers to be refined into products. To moderate these limitations, researchers have proposed underactuated robotic grippers with tendon-driven mechanisms (TDMs) [108,[147][148][149][150][151]. The use of TDMS can reduce the cost and simplify the structure design due to the less need of actuators, but achieves almost the same actions with full actuated mechanism in some scenarios.…”

Section: Chapter 6 Geometric Design Optimization Of Underactuated Grimentioning

confidence: 99%

Robotic perception and grasp in unstructured environments

Dong¹

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Enabling grasp action: Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

Cited by 17 publications

References 31 publications

Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Modeling and Simulation of Frictional Contacts in Multi-rigid-Body Systems

Robotic perception and grasp in unstructured environments

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