4 accepted papers
We introduce Pressure Field Contact (PFC), an approximate model for predicting the contact surface, pressure distribution, and net contact wrench between nominally rigid objects. PFC combines and generalizes two ideas: a bed of springs (an `elastic foundation') and hydrostatic pressure. Continuous p…
In this paper we evaluate the predictive performance of six commonly used rigid body impact models on real planar impacts captured with a motion tracking system. We propose a metric to evaluate the performance of impact models on a task (based on predicting post impact momentum) and use this metric…
Consider how a new robot is designed. Starting from a relative size (e.g., nanometer, centimeter, meter), the roboticist picks a morphological type (manipulator, quadruped, biped), and then uses intuition, experience, biological inspiration, or some combination of the three to select kinematic, dyna…
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced models that exploit underlying structure inspired by the rigid contact paradigm. We evaluate and compare the analytical