Zhongyao Zhang

Grasping posture estimation for a two-finger parallel gripper with soft material jaws using a curved contact area friction model

We present a friction model for the curved contact area between a deformable object and soft parallel gripper jaws for grasping posture estimation. We show that the assumption of a planar contact area leads to an overestimation of the frictional force and torque, which might cause the object to slip…