提出一种无需启发式方法的多物体组装稳定性评估新方法。
Robustness Assessment of Assemblies in Frictional Contact
- 基于接触界面图建模，结合物体形状信息解耦问题。
- 可高效评估任意形状刚体组装在摩擦接触下的抗扰能力。
- 适用于机器人抓取与摆放规划，比仿真更快更通用。
本文解决多物体组装在受外力作用下保持稳定性的评估问题。所提方法基于物理原理，适用于任意形状和质量分布的刚体结构，无需依赖启发式或近似处理。通过接触界面图表示法分析不稳定机制，并利用物体形状信息分解子问题以提升效率。该算法可被运动规划器用于生成安全的装配搬运方案，也可用于物体位姿规划以选择更优放置姿态。相比已有方法，本方法适用范围更广，且计算效率高于动力学仿真。
原文摘要 · Abstract (English)
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid objects of any shape and mass distribution without relying on heuristics or approximations. The result is a method that provides a foundation for autonomous robot decision-making when interacting with objects in frictional contact. Our strategy relies on a contact interface graph representation to reason about instabilities and makes use of object shape information to decouple sub-problems and improve efficiency. Our algorithm can be used by motion planners to produce safe assembly transportation plans, and by object placement planners to select better poses. Compared to prior work, our approach is more generally applicable than commonly used heuristics and more efficient than dynamics simulations.
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