Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations
Andrew S. Morgan,Quentin Bateux,Mei Hao,Aaron M. Dollar,Andrew S. Morgan,Quentin Bateux,Mei Hao,Aaron M. Dollar
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with respect to one another given a force, and a set of contacts can provide either partial or full constraint on a body's motion. Decades of work have explored how to ex...
