2017

Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models

Fazeli, Nima, Zapolsky, Samuel, Drumwright, Evan et al.

Understand

The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks.

Analytical rigid-body contact models are used extensively in planning and control due to their computational efficiency and simplicity, yet despite their prevalence, little if any empirical comparison of these models has been made and it is unclear how well they approximate contact outcomes.
In this paper, we first formulate a system identification approach for six commonly used contact models in the literature, and use the proposed method to find parameters for an experimental data-set of impacts.
Next, we compare the models empirically, and establish a task specific upper bound on the performance of the models and the rigid-body contact model paradigm.

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Anitescu M, Potra FA (1997) Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics 14:231–247
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Drumwright E, Shell DA (2010) Modeling contact friction and joint friction in dynamic robotic simulation using the principle of maximum dissipation. In: Proc. Work. Alg. Found. Robotics (WAFR)
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Chavan Dafle N, Rodriguez A (2015) Prehensile Pushing: In-hand Manipulation with Push-Primitives. In: IEEE/RSJ Intl. Conf. on Intell. Robots Systems (IROS), pp 6215 – 6222
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Fazeli N, Tedrake R, Rodriguez A (2016) Identifiability analysis of planar rigid-body frictional contact. Intl Symp Robotics Research (ISRR)
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Yu KT, Bauza M, Fazeli N, Rodriguez A (2016) More than a Million Ways to be Pushed. A High-Fidelity Experimental Data Set of Planar Pushing. In: IEEE/RSJ Intl. Conf. on Intell. Robots and Systems (IROS)
Original
2016
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Fazeli N, Donlon E, Drumwright E, Rodriguez A (2017a) Empirical evaluation of common contact models for planar impact. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp 3418–3425
2017
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