Contact modes and complementary cones

In this paper, we use a linear complementarity problem (LCP) formulation of rigid body dynamics with unilateral contacts to obtain definitions for contact modes. We show how the complementary cones of the LCP correspond to each of the intuitive contact modes: slide right, slide left, roll and separate. These complementary cones allow us to make rigorous definitions for contact modes in three-dimensional systems, where our intuitive understanding fails.

[1]  Devin J. Balkcom,et al.  A sensorless insertion strategy for rigid planar parts , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Michael A. Erdmann,et al.  Nonprehensile two palm manipulation with non-equilibrium transitions between stable states , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[3]  Jeffrey C. Trinkle,et al.  An implicit time-stepping scheme for rigid body dynamics with Coulomb friction , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  Jeffrey C. Trinkle,et al.  Complementarity formulations and existence of solutions of dynamic multi-rigid-body contact problems with coulomb friction , 1996, Math. Program..

[5]  J. Trinkle,et al.  On Dynamic Multi‐Rigid‐Body Contact Problems with Coulomb Friction , 1995 .

[6]  Matthew T. Mason,et al.  Mechanics of Robotic Manipulation , 2001 .

[7]  Yu Wang,et al.  On the inconsistency of rigid-body frictional planar mechanics , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  Kamal K. Gupta,et al.  Planning quasi-static fingertip manipulations for reconfiguring objects , 1999, IEEE Trans. Robotics Autom..

[9]  Devin J. Balkcom,et al.  Computing Wrench Cones for Planar Rigid Body Contact Tasks , 2002, Int. J. Robotics Res..

[10]  Jeffrey C. Trinkle,et al.  A framework for planning dexterous manipulation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.