Experimental Validation of Contact Dynamics for In-Hand Manipulation
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions—linear sliding, pivoting, and rolling—that involve contacts between a gripper, a rigid object, and their env...
| Main Authors: | , , |
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| Format: | Article |
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Springer Nature America, Inc
2019
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| Online Access: | http://hdl.handle.net/1721.1/119890 https://orcid.org/0000-0002-9284-503X https://orcid.org/0000-0002-1119-4512 |