Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction
Name
2022-IROS-Contact Trajectory Satisfaction-final.pdf
Description
Accepted version
Size
4.69 MB
Format
Adobe PDF
Checksum (MD5)
1794fea2131cccd46422da38a45d68cb
Author(s)
Jiang, Rebecca H.
Doshi, Neel
Gondhalekar, Ravi
Rodriguez, Alberto
Date Issued
October 23, 2022
Publisher
IEEE|2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Citation
Jiang, Rebecca H., Doshi, Neel, Gondhalekar, Ravi and Rodriguez, Alberto. 2022. "Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction."
Version
Author's final manuscript
Abstract
We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framework synthesizes an object trajectory and object-effector contact trajectory into an effector trajectory and shape that (a) does not penetrate the object, (b) makes contact with the object as specified, and (c) optimizes a user-specified objective. This simplifies manipulator control by encoding task-specific contact information in the effector's geometry. Our key insight is posing these requirements as constraints in the effector's reference frame, preventing the need for explicit parameterization of the effector shape. This prevents artificial restrictions on the shape design space. Importantly, it also facilitates posing the shape and motion design problem as a tractable nonlinear program. Our method is particularly useful for problems where the shape of the effector surface must be precisely chosen to achieve a task. We apply our method to several such problems, including jar-opening and picking up objects in constrained spaces. We evaluate the performance and computational cost of our method, and provide a physical experiment of a robotic arm picking up a screwdriver from a table with a designed tool.
Description
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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/iros47612.2022.9981918
