Article

Task-Adaptive Friction Margins for Contact Maintenance in Bimanual Non-Prehensile Manipulation

The paper proposes using signed friction distance to measure friction margin in force space, and derives a task-adaptive margin from the force correction needed to balance pivot moment deviations during bimanual tilting. The method embeds contact margins into a sequence of second-order cone programs (SOCPs), each yielding a globally optimal contact force solution at a given tilt angle, keeping robot contact forces and pivot contact forces away from the nominal friction boundary. Real-world experiments were executed under variations in object properties and model mismatch, and comparisons against fixed-margin and no-margin settings show the importance of adjusting the margin to task demand.

Part of the event: Task-Adaptive Friction Margin Method Proposed for Dual-Arm Non-Grasping Manipulation

This page provides a summary and source link only.