Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects
Name
2023-IROS-Gripper optimization-final.pdf
Description
Accepted version
Size
3.12 MB
Format
Adobe PDF
Checksum (MD5)
00e7aa492f3cd16cd2d869ca03e4872b
Author(s)
Jiang, Rebecca H.
Doshi, Neel
Gondhalekar, Ravi
Rodriguez, Alberto
Date Issued
October 1, 2023
Publisher
IEEE|2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Citation
Jiang, Rebecca H., Doshi, Neel, Gondhalekar, Ravi and Rodriguez, Alberto. 2023. "Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects."
Version
Author's final manuscript
Abstract
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While
optimizing general-purpose grippers and contact locations for
grasps are both well studied, co-optimizing grasps and the gripper geometry to execute them receives less attention. As such,
our framework synthesizes grippers optimized to stably grasp
sets of polygonal objects. Given a fixed number of contacts
and their assignments to object faces and gripper jaws, our
framework optimizes contact locations along these faces, gripper pose for each grasp, and gripper shape. Our key insights
are to pose shape and contact constraints in frames fixed to the
gripper jaws, and to leverage the linearity of constraints in our
grasp stability and gripper shape models via an augmented Lagrangian formulation. Together, these enable a tractable nonlinear program implementation. We apply our method to several
examples. The first illustrative problem shows the discovery of a
geometrically simple solution where possible. In another, space
is constrained, forcing multiple objects to be contacted by the
same features as each other. Finally a toolset-grasping example
shows that our framework applies to complex, real-world objects. We provide a physical experiment of the toolset grasps.
Description
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 1-5, 2023. Detroit, USA
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/iros55552.2023.10342241
