File(s) not publicly available
Reason: Publisher does not allow repository archiving
Classification and kinematic equivalents of contact types for fingertip-based robot hand manipulation
journal contribution
posted on 2023-06-13, 11:19 authored by Nicolas Rojas, Aaron M DollarIn 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.
History
Publication status
- Published
File Version
- Published version
Journal
Journal of Mechanisms and RoboticsISSN
1942-4302Publisher
American Society of Mechanical EngineersExternal DOI
Issue
4Volume
8Page range
041014 1-9Article number
041014Pages
9Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2016-03-07First Compliant Deposit (FCD) Date
2016-03-07Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC