Null-Space Grasp Control: Theory and Experiments
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Platt-2010-Null-Space Grasp Control Theory and Experiments.pdf
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336.42 KB
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Author(s)
Platt, Robert
Fagg, Andrew H.
Grupen, Roderic A.
Date Issued
April 2010
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers
Citation
Platt, R., A.H. Fagg, and R.A. Grupen. “Null-Space Grasp Control: Theory and Experiments.” Robotics, IEEE Transactions On 26.2 (2010) : 282-295. © 2010 IEEE.
Version
Final published version
Abstract
A key problem in robot grasping is that of positioning the manipulator contacts so that an object can be grasped. In unstructured environments, contact positions are typically planned based on range or visual measurements that are used to reconstruct object geometry. However, because it is difficult to measure the complete object geometry precisely in common grasp scenarios, it is useful to employ additional techniques to adjust or refine the grasp using local information only. In particular, grasp control techniques can be used to improve a grasp by adjusting the contact configuration after making initial contact with an object by using measurements of local object geometry at the contacts. This paper proposes three variations on null-space grasp control: an approach that combines multiple grasp objectives to improve a grasp. Two of these variations are theoretically demonstrated to converge to force-closure configurations for arbitrary convex objects when grasping with two contacts. All variations are found to converge in simulation. Robot-grasping experiments are reported that show the approach to be useful in practice.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tro.2010.2042754
