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

Schmidts, A. M., Schneider, M., Kühne, M. and Peer, A. (2016) A new interaction force decomposition maximizing compensating forces under physical work constraints. In: IEEE International Conference on Robotics and Automation, Stockholm, 16-21 May 2016., pp. 4922-4929 Available from: http://eprints.uwe.ac.uk/29157

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Publisher's URL: http://dx.doi.org/10.1109/ICRA.2016.7487698


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.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:interaction force decomposition, physical work constraints
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:29157
Deposited By: Professor A. Peer
Deposited On:17 Jun 2016 13:38
Last Modified:29 Apr 2017 13:17

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