Modeling and Grasp Stability Analysis for Object Manipulation by Soft Rolling Fingertips

2014 ◽  
Vol 11 (03) ◽  
pp. 1450020 ◽  
Author(s):  
John Fasoulas ◽  
Michael Sfakiotakis
Keyword(s):  
Stability Analysis ◽  
Dynamic Model ◽  
Object Manipulation ◽  
Kinematics And Dynamics ◽  
Control Law ◽  
Two Dimensional ◽  
Orientation Control ◽  
Grasp Stability ◽  
Different Types ◽  
General Dynamic

This paper presents a general dynamic model that describes the two-dimensional grasp by two robotic fingers with soft fingertips. We derive the system's kinematics and dynamics by incorporating rolling constraints that depend on the deformation and on the rolling distance characteristics of the fingertips' material. We analyze the grasp stability at equilibrium, and conclude that the rolling properties of the fingertips can play an important role in grasp stability, especially when the width of the grasped object is small compared to the radius of the tips. Subsequently, a controller, which is based on the fingertips' rolling properties, is proposed for stable grasping concurrent with object orientation control. We evaluate the dynamic model under the proposed control law by simulations and experiments that make use of two different types of soft fingertip materials, through which it is confirmed that the dynamic model can successfully capture the effect of the fingertips' deformation and their rolling distance characteristics. Finally, we use the dynamic model to demonstrate by simulations the significance of the fingertips' rolling properties in grasping thin objects.

Snails on oceanic islands: testing the general dynamic model of oceanic island biogeography using linear mixed effect models

2012 ◽  
Vol 40 (1) ◽  
pp. 117-130 ◽  
Author(s):  
Robert A. D. Cameron ◽  
Kostas A. Triantis ◽  
Christine E. Parent ◽  
François Guilhaumon ◽  
María R. Alonso ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Island Biogeography ◽  
Oceanic Islands ◽  
Oceanic Island ◽  
Mixed Effect ◽  
Linear Mixed Effect ◽  
Mixed Effect Models ◽  
Linear Mixed Effect Models ◽  
General Dynamic

scholarly journals Oceanic island biogeography through the lens of the general dynamic model: assessment and prospect

2016 ◽  
Vol 92 (2) ◽  
pp. 830-853 ◽  
Author(s):  
Michael K. Borregaard ◽  
Isabel R. Amorim ◽  
Paulo A. V. Borges ◽  
Juliano S. Cabral ◽  
José M. Fernández-Palacios ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Island Biogeography ◽  
Oceanic Island ◽  
Model Assessment ◽  
General Dynamic

scholarly journals Transferring and implementing the general dynamic model of oceanic island biogeography at the scale of island fragments: the roles of geological age and topography in plant diversification in the Canaries

2016 ◽  
Vol 43 (5) ◽  
pp. 911-922 ◽  
Author(s):  
Rüdiger Otto ◽  
Robert J. Whittaker ◽  
Markus von Gaisberg ◽  
Christian Stierstorfer ◽  
Agustín Naranjo-Cigala ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Island Biogeography ◽  
Oceanic Island ◽  
Geological Age ◽  
General Dynamic ◽  
Plant Diversification

scholarly journals A formula for the value of a stochastic game

2019 ◽  
Vol 116 (52) ◽  
pp. 26435-26443 ◽  
Author(s):  
Luc Attia ◽  
Miquel Oliu-Barton
Keyword(s):  
Dynamic Model ◽  
Discount Rate ◽  
Stochastic Games ◽  
Stochastic Game ◽  
Solution Concept ◽  
Robust Solution ◽  
General Dynamic

In 1953, Lloyd Shapley defined the model of stochastic games, which were the first general dynamic model of a game to be defined, and proved that competitive stochastic games have a discounted value. In 1982, Jean-François Mertens and Abraham Neyman proved that competitive stochastic games admit a robust solution concept, the value, which is equal to the limit of the discounted values as the discount rate goes to 0. Both contributions were published in PNAS. In the present paper, we provide a tractable formula for the value of competitive stochastic games.

Sign in / Sign up

Export Citation Format

Share Document