摩擦接触中装配体的鲁棒性评估
Robustness Assessment of Assemblies in Frictional Contact
AI总结：
本文提出一种基于物理的摩擦接触装配体鲁棒性评估方法，利用接触界面图推理不稳定性，支持任意形状与质量分布，比启发式更通用、比动力学模拟更高效，为机器人决策提供基础。
摘要：
本研究解决了评估多物体装配体在承受外力时保持稳定能力的问题。我们的基于物理的方法能够处理由任意形状和质量分布的刚性物体构成的任意结构，不依赖启发式方法或近似。该方法为自主机器人在摩擦接触中与物体交互时的决策提供了基础。我们的策略采用接触界面图表示来推理不稳定性，并利用物体形状信息来解耦子问题以提高效率。该算法可供运动规划器生成安全的装配运输计划，也可供物体放置规划器选择更好的位姿。与先前工作相比，我们的方法比常用启发式方法更具通用性，且比动力学模拟更高效。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
