Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
Name
1710.11097.pdf
Description
Submitted version
Size
3.21 MB
Format
Adobe PDF
Checksum (MD5)
6124b72a1c44609e3813e3c912d57ef8
Author(s)
Chavan Dafle, Nikhil Narsingh
Rodriguez Garcia, Alberto
Date Issued
September 2018
Journal
IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Chavan-Dafle, Nikhil and Alberto Rodriguez. "Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts." IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia, Institute of Electrical and Electronics Engineers, September 2018 © 2018 IEEE
Version
Original manuscript
Abstract
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2018.8461243
