Dynamics and stability in coordination of multiple robotic mechanisms
International Journal of Robotics Research
The quickhull algorithm for convex hulls
ACM Transactions on Mathematical Software (TOMS)
Linear programming 1: introduction
Linear programming 1: introduction
A numerical solution to the ray-shooting problem and its applications in robotic grasping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Application of the Antipodal Grasp Theorem to Cable-Driven Robots
IEEE Transactions on Robotics
Dynamic Force Distribution in Multifingered Grasping by Decomposition and Positive Combination
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
Fast Computation of Optimal Contact Forces
IEEE Transactions on Robotics
Optimization of Actuator Forces in Cable-Based Parallel Manipulators Using Convex Analysis
IEEE Transactions on Robotics
Testing Static Equilibrium for Legged Robots
IEEE Transactions on Robotics
Distance Between a Point and a Convex Cone in -Dimensional Space: Computation and Applications
IEEE Transactions on Robotics
A general dynamic force distribution algorithm for multifingeredgrasping
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A Fast Procedure for Optimizing Dynamic Force Distribution in Multifingered Grasping
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper presents a new approach to two fundamental problems concerning the equilibrium of a multi-contact robot: the contact force feasibility (CFF) and the contact force distribution (CFD). The CFF is to determine if there exist feasible contact forces to maintain a robot in equilibrium without breaking its contacts with the environment, while the CFD is to compute the minimum contact forces if a feasible solution exists. A general measure of overall contact force magnitude is defined, which includes the traditional measure (i.e., the sum of normal force components) and a more complex measure (i.e., the maximum of normal force components) as special cases. We first reduce the two problems into verifying the existence of nonnegative solutions and determining the nonnegative minimum one-norm solution to a system of linear equations, respectively. To obtain the explicit formulation of the linear system, it is required to compute the Minkowski sum of point sets, which usually is computationally expensive. Then, based on the GJK distance algorithm, we develop an iterative algorithm, which enables us to solve the linear system without calculating the Minkowski sum and compute the CFF and CFD in real time.