Reactive Human-to-Robot Handovers of Arbitrary Objects

Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.

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The Metaphysics and Mathematics of Arbitrary Objects

The Philosophical Review ◽

10.1215/00318108-8998916 ◽

2021 ◽

Vol 130 (3) ◽

pp. 471-474

Author(s):

Ethan Brauer

Keyword(s):

And Mathematics ◽

Arbitrary Objects

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Comments on Alasdair Urquhart’s “Fine on Arbitrary Objects”

Metaphysics, Meaning, and Modality ◽

10.1093/oso/9780199652624.003.0024 ◽

2020 ◽

pp. 418-422

Author(s):

Kit Fine

Keyword(s):

History Of Mathematics ◽

History Of ◽

Arbitrary Objects

Alasdair Urquhart’s chapter is a wonderful mix of observations on the theory of arbitrary objects, ranging over a number of historical, logical, and philosophical aspects of the theory. I was especially interested in what he had to say about the evolving conception of variables in the history of mathematics and, in the light of my own previous somewhat casual remarks on the topic, I would now like to follow up on his discussion....

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A new immersed boundary method for simulating free-surface flows around arbitrary objects

River Flow 2014 ◽

10.1201/b17133-24 ◽

2014 ◽

pp. 141-146 ◽

Cited By ~ 1

Author(s):

X Liu

Keyword(s):

Free Surface ◽

Immersed Boundary Method ◽

Free Surface Flows ◽

Immersed Boundary ◽

Surface Flows ◽

Boundary Method ◽

Arbitrary Objects

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Determination of the Interference Geometry Between Two Convex Objects

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2006-99616 ◽

2006 ◽

Cited By ~ 1

Author(s):

Lianzhen Luo ◽

Meyer Nahon

Keyword(s):

Contact Force ◽

Contact Area ◽

Contact Dynamics ◽

Continuous Contact ◽

Application Point ◽

Haptic Interactions ◽

Fitting Method ◽

Best Fitting ◽

Arbitrary Objects

The determination of the interference geometry between two arbitrary objects is an essential problem encountered in the simulation of continuous contact dynamics and haptic interactions. In these applications, with known material properties, the interbody contact force is only a function of the interference geometry between two objects. Here a theoretical basis and algorithms for the calculation of the interference geometry, such as overlap region, contact area and normal, and interference volume, are presented. Two methods to obtain the contact area and normal are analyzed: an area-weighted method and a best-fitting method. The geometric properties of the area-weighted method are presented and the degenerate cases related to both methods are discussed. Methods to calculate the application point of an interbody contact force are discussed. Some numerical simulation results are presented based on the implementation of the geometric algorithms, which are verified by comparison with hand calculation. The continuity of contact normal and its application point are demonstrated for a case in which the contacting objects smoothly move with respect to each other in the simulation.

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