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

Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell and Matthew T. Mason
Conference Paper, International Conference on Robotics and Automation (ICRA) 2016, May, 2016

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Abstract

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.

BibTeX Reference
@conference{Zhou-2016-5502,
title = {A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application},
author = {Jiaji Zhou and Robert Paolini and J. Andrew (Drew) Bagnell and Matthew T. Mason},
booktitle = {International Conference on Robotics and Automation (ICRA) 2016},
month = {May},
year = {2016},
}
2017-09-13T10:38:28+00:00