Mobility of bodies in contact. I. A 2nd-order mobility index formultiple-finger grasps

Using a configuration-space approach, the paper develops a 2nd-order mobility theory for rigid bodies in contact. A major component of this theory is a coordinate invariant 2nd-order mobility index for a body, B, in frictionless contact with finger bodies A1,...A k. The index is an integer that captures the inherent mobility of B in an equilibrium grasp due to second order, or surface curvature, effects. It differentiates between grasps which are deemed equivalent by classical 1st-order theories, but are physically different. We further show that 2nd-order effects can be used to lower the effective mobility of a grasped object, and discuss implications of this result for achieving new lower bounds on the number of contacting finger bodies needed to immobilize an object. Physical interpretation and stability analysis of 2nd-order effects are taken up in the companion pape

On singular values decomposition and patterns for human motion analysis and simulation

We are interested in human motion characterization and automatic motion simulation. The apparent redun- dancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redun- dant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task- based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions

Leibniz Equivalence. On Leibniz's (Bad) Influence on the Logical Empiricist Interpretation of General Relativity

Einstein’s “point-coincidence argument'” as a response to the “hole argument” is usually considered as an expression of “Leibniz equivalence,” a restatement of indiscernibility in the sense of Leibniz. Through a historical-critical analysis of Logical Empiricists' interpretation of General Relativity, the paper attempts to show that this labeling is misleading. Logical Empiricists tried explicitly to understand the point-coincidence argument as an indiscernibility argument of the Leibnizian kind, such as those formulated in the 19th century debate about geometry, by authors such as Poincaré, Helmholtz or Hausdorff. However, they clearly failed to give a plausible account of General Relativity. Thus the point-coincidence/hole argument cannot be interpreted as Leibnizian indiscernibility argument, but must be considered as an indiscernibility argument of a new kind. Weyl's analysis of Leibniz's and Einstein's indiscernibility arguments is used to support this claim

A Certified-Complete Bimanual Manipulation Planner

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find a solution to any bimanual manipulation query in that environment whenever one exists. Moreover, the certificate is constructive: at run-time, it can be used to quickly find a solution to a given query. The algorithm is tested in software and hardware on a number of large pieces of furniture.Comment: 12 pages, 7 figures, 1 tabl

Constructing minimum deflection fixture arrangements using frame invariant norms

This paper describes a fixture planning method that minimizes object deflection under external loads. The method takes into account the natural compliance of the contacting bodies and applies to two-dimensional and three-dimensional quasirigid bodies. The fixturing method is based on a quality measure that characterizes the deflection of a fixtured object in response to unit magnitude wrenches. The object deflection measure is defined in terms of frame-invariant rigid body velocity and wrench norms and is therefore frame invariant. The object deflection measure is applied to the planning of optimal fixture arrangements of polygonal objects. We describe minimum-deflection fixturing algorithms for these objects, and make qualitative observations on the optimal arrangements generated by the algorithms. Concrete examples illustrate the minimum deflection fixturing method. Note to Practitioners-During fixturing, a workpiece needs to not only be stable against external perturbations, but must also stay within a specified tolerance in response to machining or assembly forces. This paper describes a fixture planning approach that minimizes object deflection under applied work loads. The paper describes how to take local material deformation effects into account, using a generic quasirigid contact model. Practical algorithms that compute the optimal fixturing arrangements of polygonal workpieces are described and examples are then presented

A stiffness-based quality measure for compliant grasps and fixtures

This paper presents a systematic approach to quantifying the effectiveness of compliant grasps and fixtures of an object. The approach is physically motivated and applies to the grasping of two- and three-dimensional objects by any number of fingers. The approach is based on a characterization of the frame-invariant features of a grasp or fixture stiffness matrix. In particular, we define a set of frame-invariant characteristic stiffness parameters, and provide physical and geometric interpretation for these parameters. Using a physically meaningful scheme to make the rotational and translational stiffness parameters comparable, we define a frame-invariant quality measure, which we call the stiffness quality measure. An example of a frictional grasp illustrates the effectiveness of the quality measure. We then consider the optimal grasping of frictionless polygonal objects by three and four fingers. Such frictionless grasps are useful in high-load fixturing applications, and their relative simplicity allows an efficient computation of the globally optimal finger arrangement. We compute the optimal finger arrangement in several examples, and use these examples to discuss properties that characterize the stiffness quality measure

Towards planning with force constraints: on the mobility of bodies in contact

A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi-static contact is described. This analysis is motivated by a class of articulated robot motion-planning problems that are not handled by current planning systems. Examples are a snake-like robot that crawls inside a tunnel by bracing against the tunnel walls, a limbed robot (analogous to a monkey) that climbs a trussed structure by pushing and pulling, and a dextrous robotic hand that moves its fingers along an object while holding it stationary. In these examples, one must plan the robot motion to satisfy high-level goals while maintaining quasistatic stability. Planning the hand-hold states (analogous to the hand-holds used by rock climbers between dynamically moving states) where the robot mechanism is at a static equilibrium is considered primarily. The results obtained are some of the first steps necessary to develop planning paradigms for this class of problems. Although the authors have the general class of quasistatic planning problems in mind, the authors use the language of grasping for discussion

An SVD-Based Projection Method for Interpolation on \u3cem\u3eSE\u3c/em\u3e(3)

This paper develops a method for generating smooth trajectories for a moving rigid body with specified boundary conditions. Our method involves two key steps: 1) the generation of optimal trajectories in GA+(n), a subgroup of the affine group in IRn and 2) the projection of the trajectories onto SE(3), the Lie group of rigid body displacements. The overall procedure is invariant with respect to both the local coordinates on the manifold and the choice of the inertial frame. The benefits of the method are threefold. First, it is possible to apply any of the variety of well-known efficient techniques to generate optimal curves on GA+(n). Second, the method yields approximations to optimal solutions for general choices of Riemannian metrics on SE(3). Third, from a computational point of view, the method we propose is less expensive than traditional methods