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Non-Planar-Surface-Contacts

An algorithm to model the non-planar frictional surface contacts

1. Surface contact generation, including:

2. 6D friction computation for non-planar surfaces

3. Fitting limit surface models

The fitting can apply to both planar and non-planar surfaces with two models:

4. Mulit-contact modeling

  • Sampling the limit surface models
  • Build the grasp wrench space
  • Check if a 6D wrench disturbance is inside of the grasp wrench space
  • Code
    • multiContact/
  • Required external libraries
  • check if a disturbance is inside of the qull (grasp stability assessment)

License

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

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