A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf
.
Physically Plausible Wrench Decomposition for Multieffector Object Manipulation
2018
IEEE Transactions on robotics
When manipulating an object with multiple effectors such as in multi-digit grasping or multi-agent collaboration, forces and torques (i.e. wrench) applied to the object at different contact points generally do not fully contribute to the resultant object wrench, but partly compensate each other. The current literature, however, lacks a physically plausible decomposition of the applied wrench into its manipulation and internal components. We formulate the wrench decomposition as a convex
doi:10.1109/tro.2018.2830369
fatcat:akqlxhpa2jbgxehpbxu4ivolv4