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

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.Comment: 2016 IEEE International Conference on Robotics and Automation (ICRA

Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner. Video Summary -- youtu.be/qOTKRJMx6HoComment: IEEE International Conference on Robotics and Automation 201

Analysis of friction coupling and the Painlevé paradox in multibody systems

Multibody models are useful to describe the macroscopic motion of the elements of physical systems. Modeling contact in such systems can be challenging, especially if friction at the contact interface is taken into account. Furthermore, the dynamics equations of multibody systems with contacts and Coulomb friction may become ill-posed due to friction coupling, as in the Painlevé paradox, where a solution for system dynamics may not be found. Here, the dynamics problem is considered following a general approach so that friction phenomena, such as dynamic jamming, can be analyzed. The effect of the contact forces on the velocity field of the system is the cornerstone of the proposed formulation, which is used to analyze friction coupling in multibody systems with a single contact. In addition, we introduce a new representation of the so-called generalized friction cone, a quadratic form defined in the contact velocity space. The geometry of this cone can be used to determine the critical cases where the solvability of the system dynamic equations can be compromised. Moreover, it allows for assessing friction coupling at the contact interface, and obtaining the values of the friction coefficient that can make the dynamics formulation inconsistent. Finally, the classical Painlevé example of a single rod and the multibody model of an articulated arm are used to illustrate how the proposed cone can detect the cases where the dynamic equations have no solution, or multiple solutions.Postprint (author's final draft

Mechanics reveals the role of peristome geometry in prey capture in carnivorous pitcher plants (Nepenthes)

Carnivorous pitcher plants (Nepenthes) are a striking example of a natural pitfall trap. The trap’s slippery rim, or peristome, plays a critical role in insect capture via an aquaplaning mechanism that is well documented. While the peristome has received significant research attention, the conspicuous variation in peristome geometry across the genus remains unexplored. We examined the mechanics of prey capture using Nepenthes pitcher plants with divergent peristome geometries. Inspired by living material, we developed a mathematical model that links the peristomes’ three-dimensional geometries to the physics of prey capture under the laws of Newtonian mechanics. Linking form and function enables us to test hypotheses related to the function of features such as shape and ornamentation, orientation in a gravitational field, and the presence of “teeth,” while analysis of the energetic costs and gains of a given geometry provides a means of inferring potential evolutionary pathways. In a separate modeling approach, we show how prey size may correlate with peristome dimensions for optimal capture. Our modeling framework provides a physical platform to understand how divergence in peristome morphology may have evolved in the genus Nepenthes in response to shifts in prey diversity, availability, and size

Mechanics reveals the role of peristome geometry in prey capture in carnivorous pitcher plants (Nepenthes)

Carnivorous pitcher plants (Nepenthes) are a striking example of a natural pitfall trap. The trap’s slippery rim, or peristome, plays a critical role in insect capture via an aquaplaning mechanism that is well documented. Whilst the peristome has received significant research attention, the conspicuous variation in peristome geometry across the genus remains unexplored. We examined the mechanics of prey capture using Nepenthes pitcher plants with divergent peristome geometries. Inspired by living materials, we developed a mathematical model that links the peristomes’ three-dimensional geometries to the physics of prey capture under the laws of Newtonian mechanics. Linking form and function enables us to test hypotheses related to the function of features such as shape and ornamentation, orientation in a gravitational field, and the presence of ‘teeth’, while analysis of the energetic costs and gains of a given geometry provides a means of inferring potential evolutionary pathways. In a separate modeling approach, we show how prey size may correlate with peristome dimensions for optimal capture. Our modeling framework provides a physical platform to understand how divergence in peristome morphology may have evolved in the genus Nepenthes in response to shifts in prey diversity, availability, and size