Roboticist at MIT and TRI
Fall 2022, Lecture 8
Follow live at https://slides.com/d/av6LxtA/live
(or later at https://slides.com/russtedrake/fall22-lec08)
Probability distributions over environments. Work by Greg Izatt
YCB Benchmarks – Object and Model Set
Green arrow is the force on the red box due to the overlap with the blue box.
Many heuristics for using multiple points...
you can get more robust simulations with curated collision geometry
major contributions from Damrong Guoy, Sean Curtis, Rick Cory, Alejandro Castro, ...
Both boxes are soft.
Point contact (discontinuous)
State-space (for simulation, planning, control) is the original rigid-body state.
Manually-curated point contacts
Hydroelastic contact surfaces
Stable and symmetrical hydroelastic forces
the frictionless case
Point contact (no friction)
MIT Robotic Manipulation Fall 2021 http://manipulation.csail.mit.edu