russtedrake PRO
Roboticist at MIT and TRI
Part 1:
MIT 6.421
Robotic Manipulation
Fall 2023, Lecture 8
Follow live at https://slides.com/d/q6akoZo/live
(or later at https://slides.com/russtedrake/fall23-lec08)
This week:
YCB Benchmarks – Object and Model Set
Probability distributions over environments. Work by Greg Izatt
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)
Hydroelastic
(continuous)
vs
Hydroelastic is
State-space (for simulation, planning, control) is the original rigid-body state.
Manually-curated point contacts
Hydroelastic contact surfaces
Stable and symmetrical hydroelastic forces
Before
Now
Point contact
Hydroelastic contact
the frictionless case
Point contact (no friction)
Hydroelastic
(no friction)
By russtedrake
MIT Robotic Manipulation Fall 2023 http://manipulation.csail.mit.edu