Manipulation of unknown objects via contact configuration regulation
Name
2022-ICRA-Contact Configuration Regulation-final.pdf
Description
Accepted version
Size
5.14 MB
Format
Adobe PDF
Checksum (MD5)
89063172b9e9e7ecbf9e2a51a16ff1be
Author(s)
Doshi, Neel
Taylor, Orion
Rodriguez, Alberto
Date Issued
May 23, 2022
Publisher
IEEE|2022 International Conference on Robotics and Automation (ICRA)
Citation
Doshi, Neel, Taylor, Orion and Rodriguez, Alberto. 2022. "Manipulation of unknown objects via contact configuration regulation."
Version
Author's final manuscript
Abstract
We present an approach to robotic manipulation
of unknown objects through regulation of the object’s contact
configuration: the location, geometry, and mode of all contacts
between the object, robot, and environment. A contact configuration constrains the forces and motions that can be applied to
the object; however, synthesizing these constraints generally
requires knowledge of the object’s pose and geometry. We
develop an object-agnostic approach for estimation and control
that circumvents this need. Our framework directly estimates a
set of wrench and motion constraints which it uses to regulate
the contact configuration. We use this to reactively manipulate
unknown planar objects in the gravity plane. A video describing
our work can be found on our project page: http://mcube.
mit.edu/research/contactConfig.html.
Description
2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA, USA
MIT Department
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/icra46639.2022.9811713
