Figure 1: The actual part and its support distribution on the left, and the estimated support distribution on the right. The area of a blob is proportional to the support force at that point. The support is approximated as a grid.
Estimating the Friction Parameters of Pushed Objects
K. M. Lynch
Abstract
In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also explored.