Academic Commons

Articles

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks

Allen, Peter K.; Lackner, Claire; Ciocarlie, Matei

This paper presents a method for building analytical contact models for soft fingers. Friction constraints are derived based on general expressions for non-planar contacts of elastic bodies, taking into account the local geometry and structure of the objects in contact. These constraints are then formulated as a linear complementarity problem, the solution of which provides the normal and frictional forces applied at each contact, as well as the relative velocity of the bodies involved. This approach captures frictional effects such as coupling between tangential force and frictional torque. We illustrate this method by analyzing manipulation tasks performed by an anthropomorphic robotic hand equipped with soft fingerpads.

Subjects

Files

Also Published In

Title
World Haptics 2007: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems: 22-24 March, 2007, Tsukuba, Japan
DOI
https://doi.org/10.1109/WHC.2007.103

More About This Work

Academic Units
Computer Science
Publisher
IEEE
Published Here
November 2, 2012
Academic Commons provides global access to research and scholarship produced at Columbia University, Barnard College, Teachers College, Union Theological Seminary and Jewish Theological Seminary. Academic Commons is managed by the Columbia University Libraries.