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

Schmidts, Alexander, M.; Schneider, Manuel; Kühne, Markus; Peer, Angelika

Authors

Alexander, M. Schmidts

Manuel Schneider

Markus Kühne



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.

Presentation Conference Type Conference Paper (unpublished)
Start Date May 16, 2016
Publication Date Jan 1, 2016
Peer Reviewed Peer Reviewed
Pages 4922-4929
APA6 Citation Schmidts, A. M., Schneider, M., K├╝hne, 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
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

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