A note on synthesizing geodesic based contact curves
This work addresses a domain-specific problem in robotics and mechanical systems, focusing on rolling constraints for in-hand manipulation, and appears incremental as it builds on existing geodesic methods.
The paper tackled the problem of ensuring rolling constraints between two bodies in relative motion by synthesizing optimal contact curves, showing that geodesic-based curves on contacting surfaces are sufficient for rolling and can be modified for disturbance rejection. Simulations in in-hand manipulation contexts were used as examples.
The paper focuses on synthesizing optimal contact curves that can be used to ensure a rolling constraint between two bodies in relative motion. We show that geodesic based contact curves generated on both the contacting surfaces are sufficient conditions to ensure rolling. The differential geodesic equations, when modified, can ensure proper disturbance rejection in case the system of interacting bodies is perturbed from the desired curve. A corollary states that geodesic curves are generated on the surface if rolling constraints are satisfied. Simulations in the context of in-hand manipulations of the objects are used as examples.