Event
Task-Adaptive Friction Margin Method Proposed for Dual-Arm Non-Grasping Manipulation
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Qian Ying Lee, Lin Yang, and Domenico Campolo published a paper proposing a task-adaptive friction margin method for contact maintenance in dual-arm non-grasping manipulation. The method measures the friction margin in force space using a signed friction distance, and derives the task-adaptive margin from the force correction required to balance the pivot torque deviation when the dual arms tilt. The authors embed the contact margin into a series of second-order cone programs (SOCPs), yielding globally optimal contact force solutions at each tilt angle, keeping the robot contact forces and pivot contact forces away from the nominal friction boundary. Real-robot experiments were performed under variations in object properties and model mismatch; the paper states that comparisons between fixed margins and no margin demonstrate the importance of adjusting the margin according to task requirements.
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- 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.
arXiv cs.RO ·