A new interaction force decomposition maximizing compensating forces under physical work constraints

Abstract

In manipulation tasks interaction forces are often decomposed to be able to control robustness-reflective and accelerating forces separately. While this decomposition is typically performed for the synthesis of interaction forces to be applied for example in the context of robotic grasping, less attention has been paid to the analysis of measured, human interaction forces. Here, we introduce a physically-motivated bounding constraint, based on the law of energy conservation, and present a new decomposition approach for interaction force analysis with rigid objects. The decomposition extends the intuitive solution known in literature for the two finger grasp by maximizing robustness-reflective forces while respecting the bounding constraint. Advantages of our approach are illustrated in numerical examples and experiments and by comparing it to existing decomposition approaches. In contrast to existing approaches, our new approach is not limited in the number of interaction points and incorporates only individual interaction forces which are physically plausible.

Citation

Schmidts, A. M., Schneider, M., Kühne, M., & Peer, A. (2016, May). A new interaction force decomposition maximizing compensating forces under physical work constraints. Paper presented at IEEE International Conference on Robotics and Automation, Stockholm

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE International Conference on Robotics and Automation
• Start Date: May 16, 2016
• End Date: May 21, 2016
• Acceptance Date: Jan 14, 2016
• Publication Date: Jan 1, 2016
• Peer Reviewed: Peer Reviewed
• Pages: 4922-4929
• Keywords: interaction force decomposition, physical work constraints
• Publisher URL: http://dx.doi.org/10.1109/ICRA.2016.7487698
• Additional Information: Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation