Skip to content
No description, website, or topics provided.
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
LICENSE
README.md
finiteFB.m
finiteFBTS.m
generatePM.m
polyGeometry.m
polygonalPegInHole.m
simulateQuasiStatics.m
slidingCircle.m
slidingCircleWithWall.m

README.md

Quasi-static Grasping Library

Dependencies

The linear complementarity Problems (LCPs) generated by this library are solved using http://pages.cs.wisc.edu/~ferris/path.html. pathlcp will need to be in the MATLAB path for the examples to run correctly.

Functionality

Quasi-static LCPs can be solved directly, both in the velocity-based formulation (finiteFB) as well as the time-stepping formulation (finiteFBTS). There is additional structure to repeatedly solves the time-stepping problem over a trajectory with positional feedback in simulateQuasiStatics.

Examples

There are three examples included, each of which may be run with the parameter true to generate a corresponding video:

  • slidingCircle: A circle is pushed along three different paths by two fingers.
  • slidingCircleWithWall: A circle is rolled against a wall.
  • polygonalPegInHole: A rectangual peg is inserted into a slot with a 1% width tolerance.
You can’t perform that action at this time.