6DLS: Modeling Nonplanar Frictional Surface Contacts for Grasping Using 6-D Limit Surfaces

Robot grasping with deformable gripper jaws results in nonplanar surface contacts if the jaws deform to the nonplanar local geometry of an object. The frictional force and torque that can be transmitted through a nonplanar surface contact are both 3-D, resulting in a 6-D frictional wrench (6DFW). Applying traditional planar contact models to such contacts leads to overconservative results as the m...