Carnegie Mellon University
Browse

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application

Download (1.56 MB)
journal contribution
posted on 2016-02-01, 00:00 authored by Jiaji Zhou, Robert PaoliniRobert Paolini, J. Andrew Bagnell, Matthew T. Mason

We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is confined to be convex even-degree homogeneous in order to obey the maximum work inequality, symmetry, shape invariance in scale, and fast invertibility. We present a simple and statistically-efficient model identification procedure using a sum-of-squares convex relaxation. Simulation and robotic experiments validate the accuracy and efficiency of our approach. We also show practical applications of our model including stable pushing of objects and free sliding dynamic simulations.

History

Publisher Statement

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Date

2016-02-01

Usage metrics

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC