In-Hand Manipulation via Motion Cones
Name
1810.00219.pdf
Description
Accepted version
Size
6 MB
Format
Adobe PDF
Checksum (MD5)
46cb0dc53e97d3ab07a3cf7f208736bc
Author(s)
Chavan Dafle, Nikhil Narsingh
Holladay, Rachel
Rodriguez, Alberto
Rodriguez Garcia, Alberto
Date Issued
June 2018
Journal
Robotics: Science and Systems XIV
Publisher
Robotics: Science and Systems Foundation
Citation
Chavan-Dafle, Nikhil et al. "In-Hand Manipulation via Motion Cones." Robotics: Science and Systems XIV, June 2018, Pittsburgh, Pennsylvania, USA, Robotics: Science and Systems Foundation, June 2018.
Version
Author's final manuscript
Abstract
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its geometric construction to a broader set of planar tasks, where external forces such as gravity influence the dynamics of pushing, and prehensile tasks, where there are complex interactions between the gripper, object, and pusher. We show that the motion cone is defined by a set of low-curvature surfaces and provide a polyhedral cone approximation to it. We verify its validity with 2000 pushing experiments recorded with motion tracking system. Motion cones abstract the algebra involved in simulating frictional pushing by providing bounds on the set of feasible motions and by characterizing which pushes will stick or slip. We demonstrate their use for the dynamic propagation step in a sampling-based planning algorithm for in-hand manipulation. The planner generates trajectories that involve sequences of continuous pushes with 5-1000x speed improvements to equivalent algorithms.
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/10.15607/rss.2018.xiv.058
