A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
This work addresses the problem of improving robotic manipulation and simulation for planar sliding, but it appears incremental as it builds on existing friction modeling approaches.
The authors tackled the problem of modeling planar sliding by proposing a convex polynomial force-motion model, which was validated through simulation and robotic experiments to show accuracy and efficiency, with applications in stable pushing and dynamic simulations.
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is confined to be convex even-degree homogeneous in order to obey the maximum work inequality, symmetry, shape invariance in scale, and fast invertibility. We present a simple and statistically-efficient model identification procedure using a sum-of-squares convex relaxation. Simulation and robotic experiments validate the accuracy and efficiency of our approach. We also show practical applications of our model including stable pushing of objects and free sliding dynamic simulations.