Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.robot.2010.12.006
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dc.titleA GJK-based approach to contact force feasibility and distribution for multi-contact robots
dc.contributor.authorZheng, Y.
dc.contributor.authorChew, C.-M.
dc.contributor.authorAdiwahono, A.H.
dc.date.accessioned2014-06-16T09:28:51Z
dc.date.available2014-06-16T09:28:51Z
dc.date.issued2011-03
dc.identifier.citationZheng, Y., Chew, C.-M., Adiwahono, A.H. (2011-03). A GJK-based approach to contact force feasibility and distribution for multi-contact robots. Robotics and Autonomous Systems 59 (3-4) : 194-207. ScholarBank@NUS Repository. https://doi.org/10.1016/j.robot.2010.12.006
dc.identifier.issn09218890
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/54221
dc.description.abstractThis paper presents a new approach to two fundamental problems concerning the equilibrium of a multi-contact robot: the contact force feasibility (CFF) and the contact force distribution (CFD). The CFF is to determine if there exist feasible contact forces to maintain a robot in equilibrium without breaking its contacts with the environment, while the CFD is to compute the minimum contact forces if a feasible solution exists. A general measure of overall contact force magnitude is defined, which includes the traditional measure (i.e., the sum of normal force components) and a more complex measure (i.e., the maximum of normal force components) as special cases. We first reduce the two problems into verifying the existence of nonnegative solutions and determining the nonnegative minimum one-norm solution to a system of linear equations, respectively. To obtain the explicit formulation of the linear system, it is required to compute the Minkowski sum of point sets, which usually is computationally expensive. Then, based on the GJK distance algorithm, we develop an iterative algorithm, which enables us to solve the linear system without calculating the Minkowski sum and compute the CFF and CFD in real time. © 2010 Elsevier B.V. All rights reserved.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/j.robot.2010.12.006
dc.sourceScopus
dc.subjectContact force distribution
dc.subjectEquilibrium
dc.subjectGJK distance algorithm
dc.subjectLinear programming
dc.subjectMinimum norm solution
dc.subjectMulti-contact robots
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1016/j.robot.2010.12.006
dc.description.sourcetitleRobotics and Autonomous Systems
dc.description.volume59
dc.description.issue3-4
dc.description.page194-207
dc.description.codenRASOE
dc.identifier.isiut000288844200004
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