Classification and kinematic equivalents of contact types for fingertip-based robot hand manipulation

Rojas, Nicolas and Dollar, Aaron M (2016) Classification and kinematic equivalents of contact types for fingertip-based robot hand manipulation. Journal of Mechanisms and Robotics, 8 (4). 041014-1. ISSN 1942-4302

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Abstract

In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such classification is the modelling of contacts as kinematic pairs. In this paper, we extend this notion by modeling the effects of a robot contacting a body as kinematic chains. The introduced kinematic-chain-based contact model is based on an extension of the Bruyninckx-Hunt approach of surface-surface contact. A general classification of non-frictional and frictional contact types suitable for both manipulation analyses and robot hand design is then proposed, showing that all standard contact categories used in robotic manipulation are special cases of the suggested generalization. New contact models, such as ball, tubular, planar translation, and frictional adaptive finger contacts, are defined and characterized. An example of manipulation analysis that lays out the relevance and practicality of the proposed classification is detailed.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Nicolas Rojas
Date Deposited: 07 Mar 2016 11:24
Last Modified: 11 Sep 2017 05:18
URI: http://sro.sussex.ac.uk/id/eprint/59861

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