Reproduce “Keeping Contact: Task-Adaptive Friction Margins for Bimanual Non-Prehensile Manipulation” on OpenResearch
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About this paper
Qian Ying Lee, Lin Yang, Domenico Campolo
The authors plan bimanual non-prehensile tilting forces that keep robot contacts inside friction limits as a box rotates about a passive pivot. Their signed friction distance measures reserve from slipping, and their contact margins increase with task force demand and reflect moment leverage. Under tested center-of-mass mismatch, adaptive margins completed five trials; matched-effort fixed margins completed none here.
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