Compliance Viewed as Programming a Damped Spring

Stephen J. Buckley

Parts mating often requires the use of compliant motions, which cause an object in the grasp of a robot to slide along obstacles in its environment. This paper is about the interface between a compliant motion programming system and a compliant motion control system. We propose that in this interface the robot can be modeled as a damped spring. This model allows the programming system to specify and reason about compliant motions without worrying about low-level control details. The utility of the damped spring model is demonstrated by applications in teaching and planning of compliant motion strategies.


This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.