A Convex-Combinatorial Model for Planar Caging
Name
1809.06427.pdf
Description
Submitted version
Size
1.16 MB
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Unknown
Checksum (MD5)
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Author(s)
Aceituno-Cabezas, Bernardo
Dai, Hongkai
Rodriguez Garcia, Alberto
Date Issued
2019
Journal
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Aceituno-Cabezas, Bernardo, Dai, Hongkai and Rodriguez, Alberto. 2019. "A Convex-Combinatorial Model for Planar Caging." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Version
Original manuscript
Abstract
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often serves as a way-point to a grasp. However, caging is traditionally difficult to integrate as part of larger manipulation frameworks, where caging is not the goal but an intermediate condition. In this paper, we develop a convex-combinatorial model to characterize caging from an optimization perspective. More specifically, we derive a set of sufficient constraints to enclose the configuration of the object in a compact-connected component of its free-space. The convex-combinatorial nature of this approach provides guarantees on optimality and convergence, and its optimization nature makes it versatile for further applications on robot manipulation tasks. To the best of our knowledge, this is the first optimization-based approach to formulate the caging condition.
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/IROS40897.2019.8968179
