Trinkle, J. C., Farahat, A. O., and Stiller, P. F. (1995). First-order stability cells of active multirigid -body systems. IEEE Trans. on Robotics and Automation, 11(4):545--557.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....at rest and in contact, and the dynamics in the system are dissipative, the capture regions will be correct. The capture regions will in general not cover the entire configuration space. Much work has also been done on determining the stable orientations of assemblies (Mason et al. 1997; Trinkle et al. 1995; Mattikalli et al. 1994) Here, an object is typically in contact with 10 Mark Moll Michael Erdmann several controlled rigid bodies (e.g. manipulators) Usually the only force acting on the object is gravity. In other words, this is not the same problem as determining whether we have form or ....

Trinkle, J. C., Farahat, A. O., and Stiller, P. F. (1995). First-order stability cells of active multirigid -body systems. IEEE Trans. on Robotics and Automation, 11(4):545--557.

....manipulation plan is formulated as a sequence of transitions through nodes of a graph that represent topologically unique grasps, which can be both fingertip or precision grasps and power grasps. We attempt to discretize the configuration space of the hand object system X , in a similar fashion to [8] in which stability cells are employed to characterize the useful manifolds of the configuration space that satisfy kinematic and grasp stability constraints. Our method, however, enforces only kinematic constraints in the definition of a grasp. We treat the problem in this way in hope of ....

J. C. Trinkle, A. O. Farahat, and P. F. Stiller. First-order stability cells of active multi-rigid body systems. IEEE Transactions on Robotics and Automation, 11(4):545--557, 1995.

.... plan is formulated as a sequence of transitions through nodes of a graph that represent topologically unique grasps, which can be both simple finger tip or precision grasps and power grasps [1] We attempt to discretize the configuration space of the hand object system X , in a similar fashion to [9] in which stability cells are employed to characterize the useful manifolds of the configuration space that satisfy kinematic and grasp stability constraints. Our method however is to first only enforce the kinematic constraints in the definition of the set of nodes, referred to as canonical ....

J. C. Trinkle, A. O. Farahat, and P. F. Stiller. First-order stability cells of active multi-rigid body systems. IEEE Transactions on Robotics and Automation, 11(4):545--557, 1995.

....and formulate a qualitative and computationally tractable model in which to perform dextrous manipulation planning. In a sense, our approach to the identi cation of stable grasp con gurations o ers an alternative to the mathematically vigorous approach exempli ed by the work of Trinkle et al. [14]. It is important, however, to deal with the issues of determining appropriate grasping forces and compensating for gravity and other external forces at the lower control level on a per CG basis. 2.2 Grasp Transformation Graph A Grasp Transformation Graph (GTG) expresses possible transitions ....

J. C. Trinkle, A. O. Farahat, and P. F. Stiller. First-order stability cells of active multi-rigid body systems. IEEE Trans. on Robotics and Auto., 11(4):545-557, 1995.

....manipulation system that slides and rotates an object to enable subsequent grasping. Farahat, Stiller, and Trinkle [71] analytically determine the position and orientation of a polygon moving in sliding and rolling contact with two or three position controlled robots. Trinkle, Farahat, and Stiller [179] analyze systems of multiple objects and manipulators in contact and determine contact states that are stable to small variations in forces. When the contact state causes the object velocity to be uniquely determined from the manipulator velocity, these first order stability cells can be used to ....

J. C. Trinkle, A. O. Farahat, and P. F. Stiller. First-order stability cells of active multirigid -body systems. IEEE Transactions on Robotics and Automation, 11(4):545--557, Aug. 1995.

....to impose additional conditions guaranteeing the admissibility of the trajectories to be planned and also tackling the indeterminacy problems when these trajectories are used by real mechanisms. For instance, first order stability conditions that guarantee that rolling contacts can be maintained [31], and or non jamming conditions under which sliding contacts cannot switch to rolling [32] can be incorporated while planning. We believe that this second approach, at least in a conceptual sense, would be incorporated without any major modification to our planning framework. Of course, we need to ....

J.C. Trinkle, A.O. Farahat, and P.F. Stiller. Firstorder stability cells of active multi-rigid-body systems. IEEE Trans. on Robotics & Automation, 11(4):545-- 557, 1995.

....work reasonably well in practice. This work has been inspired by the ideas behind minimalist robotics, articulated by Canny and Goldberg ( 4] and [5] and by work in many areas of nonprehensile manipulation, such as pushing (Mason [14] and many others) palmar manipulation (Trinkle et al. 19] and [18]) Erdmann [7] and Zumel [24] and paddle juggling (Buhler and Koditschek [3] Rizzi and Koditschek [15] and Schaal and Atkeson [16] Experiments with planar sliders have been performed by Zhu et al. 23] in conjunction with what they call releasing manipulation. In their experiments, ....

J. C. Trinkle, A. O. Farahat, and P. F. Stiller. Firstorder stability cells of active multi-rigid-body systems. IEEE Transactions on Robotics and Automation, 11(4):545--557, Aug. 1995.

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Trinkle, J. C., Farahat, A. O., and Stiller, P. F. August 1995. First-order stability cells of active multi-rigid-body systems. IEEE Transactions on Robotics and Automation 11(4):545--557.

....7] and second, cell decomposition techniques lend themselves to parallel and distributed computation. In this paper, we present the geometric characterization and analytic representation of eight fundamental types of kinematic constraint surfaces in C space (called contact formation cells [30] [29] These constraint surfaces are the most important ones that arise during the planar manipulation of a passive polygonal workpiece by a manipulator composed of up to three active polygons whose positions and orientations are independently controlled. Using simple techniques from algebraic ....

....parameters. 1 The term elemental contact [5] refers to either a type A or a type B contact. Brost represented the patches and edges of the C obstacle in parametric form and found the vertices by numerical solution. In the dexterous manipulation planning problem that we have been pursuing [27, 28, 30, 29], the vertices are extremely important, because during manipulation, the workpiece configuration commonly resides at a vertex or (when rolling is involved) at a fixed point on an edge of the deforming C obstacle. Actual manipulation of the workpiece corresponds to the deliberate deformation of the ....

J.C. Trinkle, A.O. Farahat, and P.F. Stiller. First-order stability cells of active multirigid -body systems. IEEE Transactions on Robotics and Automation, 1995. in press.

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Trinkle, J. C., Farahat, A. O., and Stiller, P. F. (1995). First-order stability cells of active multirigid -body systems. IEEE Trans. on Robotics and Automation, 11(4):545--557.

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J. C. Trinkle, A. O. Farahat, and P. F. Stiller. "First Order Stability Cells of Active Multi-Rigid-Body Systems" IEEE Transactions on Robotics and Automation, vol. 11, no. 4, pp. 545-557, 1995.

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