Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment
Aditya Patankar,Amin Fakhari,Nilanjan Chakraborty,Aditya Patankar,Amin Fakhari,Nilanjan Chakraborty
In this paper, we study the problem of computing grasping forces for quasi-static manipulation of large and heavy objects, by exploiting object-environment contacts. We present a general formulation of this problem as a Second-Order Cone Program (SOCP) that considers (i) contact friction constraints at the object-manipulator contacts and object-environment contacts, (ii) force/moment equilibrium c...
