Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts
Name
2023-IROS-Contact control regulation II-final.pdf
Description
Accepted version
Size
5.49 MB
Format
Adobe PDF
Checksum (MD5)
6478576a33bf5892c95e122a317ed28d
Author(s)
Taylor, Orion
Doshi, Neel
Rodriguez, Alberto
Date Issued
October 1, 2023
Publisher
IEEE|2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Citation
Taylor, Orion, Doshi, Neel and Rodriguez, Alberto. 2023. "Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts."
Version
Author's final manuscript
Abstract
In this work, we build on our method for manipulating unknown objects via contact configuration regulation:
the estimation and control of the location, geometry, and mode
of all contacts between the robot, object, and environment.
We further develop our estimator and controller to enable
manipulation through more complex contact interactions, including intermittent contact between the robot/object, and
multiple contacts between the object/environment. In addition,
we support a larger set of contact geometries at each interface.
This is accomplished through a factor graph based estimation
framework that reasons about the complementary kinematic
and wrench constraints of contact to predict the current contact
configuration. We are aided by the incorporation of a limited
amount of visual feedback; which when combined with the
available F/T sensing and robot proprioception, allows us to differentiate contact modes that were previously indistinguishable.
We implement this revamped framework on our manipulation
platform, and demonstrate that it allows the robot to perform a
wider set of manipulation tasks. This includes, using a wall as
a support to re-orient an object, or regulating the contact geometry between the object and the ground. Finally, we conduct
ablation studies to understand the contributions from visual
and tactile feedback in our manipulation framework. Our code
can be found at: https://github.com/mcubelab/pbal.
Description
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 1-5, 2023. Detroit, USA
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros55552.2023.10341362
