Approximating contact for multi-end effector grasps

Abstract

We present a novel approach for simulating a multi-end effector grasp in real-time by approximation. Given a fully grasped and constrained object, we show how multiple contact and friction constraints can be replaced by a single 6DOF that approximates the grasping behavior and significantly improves performance. We demonstrate how similar the approximated grasp behavior is to the fully simulated behavior while providing a considerable performance increase by testing our approach in two separate scenarios using a simulated arm and hand grasping two different objects. Furthermore, we show how specific axes of the 6DOF constraint can be relaxed to imitate friction and sliding motions of the target object relative to the end-effectors.

Date	25 Aug 2022
Original language	American English
Awarding Institution	École de technologie supérieure
Supervisor	Sheldon Andrews (Supervisor)