Prehensile Pushing: In-hand Manipulation with Push-Primitives
Name
ncd-iros15-final.pdf
Size
5.34 MB
Format
Adobe PDF
Checksum (MD5)
23c87d6a1b89377ba2b11b0e0de9899c
Author(s)
Chavan Dafle, Nikhil Narsingh
Rodriguez, Alberto
Date Issued
September 2015
Journal
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Chavan-Dafle, Nikhil, and Alberto Rodriguez. "Prehensile Pushing: In-hand Manipulation with Push-Primitives." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2015).
Version
Author's final manuscript
Abstract
This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such as those currently available in industrial settings, and those likely affordable by service and field robots. This paper is concerned with the mechanics of the forceful interaction between a gripper, a grasped object, and its environment. In particular, we describe the quasi-dynamic motion of an object held by a set of point, line, or planar rigid frictional contacts and forced by an external pusher (the environment). Our model predicts the force required by the external pusher to “break” the equilibrium of the grasp and estimates the instantaneous motion of the object in the grasp. It also captures interesting behaviors such as the constraining effect of line or planar contacts and the guiding effect of the pusher’s motion on the objects’s motion. We evaluate the algorithm with three primitive prehensile pushing actions—straight sliding, pivoting, and rolling—with the potential to combine into a broader in-hand manipulation capability.
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://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=103&Number=1617
