论文标题
对象操纵的多面体摩擦锥估计器
Polyhedral Friction Cone Estimator for Object Manipulation
论文作者
论文摘要
多面体摩擦锥是一组反应扳手，在与环境接触时，物体可以体验到。该多面体是控制对象的运动和与环境相互作用的强大工具。它可以通过了解对象和环境几何形状，接触点位置和摩擦系数进行分析得出。我们建议估计多面体摩擦锥，以便不再需要对这些数量的先验知识。此外，我们引入了一种解决方案，以转换估计的摩擦锥，以避免对象移动时重新估计。我们对估计的多面体摩擦锥进行了分析，并证明了其在模拟中和使用真实机器人中操纵对象的应用。
A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an object's motion and interaction with the environment. It can be derived analytically, upon knowledge of object and environment geometries, contact point locations and friction coefficients. We propose to estimate the polyhedral friction cone so that a priori knowledge of these quantities is no longer required. Additionally, we introduce a solution to transform the estimated friction cone to avoid re-estimation while the object moves. We present an analysis of the estimated polyhedral friction cone and demonstrate its application for manipulating an object in simulation and with a real robot.
