A Theory of Irrotational Contact Fields
CoRR(2023)
摘要
We present a framework that enables to write a family of convex
approximations of complex contact models. Within this framework, we show that
we can incorporate well established and experimentally validated contact models
such as the Hunt & Crossley model. Moreover, we show how to incorporate
Coulomb's law and the principle of maximum dissipation using a regularized
model of friction. Contrary to common wisdom that favors the use of rigid
contact models, our convex formulation is robust and performant even at high
stiffness values far beyond that of materials such as steel. Therefore, the
same formulation enables the modeling of compliant surfaces such as rubber
gripper pads or robot feet as well as hard objects. We characterize and
evaluate our approximations in a number of tests cases. We report their
properties and highlight limitations.
Finally, we demonstrate robust simulation of robotic tasks at interactive
rates, with accurately resolved stiction and contact transitions, as required
for meaningful sim-to-real transfer. Our method is implemented in the open
source robotics toolkit Drake.
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