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Sampling-Based Planning of In-Hand Manipulation with External Pushes
Name
1707.00318.pdf
Description
Submitted version
Size
3.85 MB
Format
Adobe PDF
Checksum (MD5)
00448e7b2aafa263ed0cd50e5bdda245
Author(s)
Chavan-Dafle, Nikhil
Rodriguez, Alberto
Date Issued
2020
Publisher
Springer International Publishing
Citation
Chavan-Dafle, Nikhil and Rodriguez, Alberto. 2020. "Sampling-Based Planning of In-Hand Manipulation with External Pushes." 10.
Version
Original manuscript
Abstract
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effectively explores the space of continuous pushes with discrete pusher contact switch-overs. We model the frictional interaction between gripper, grasped object, and pusher, by discretizing complex surface/line contacts into arrays of hard frictional point contacts. The inverse dynamics problem of finding an instantaneous pusher motion that yields a desired instantaneous object motion takes the form of a mixed nonlinear complementarity problem. Building upon this dynamics solver, our planner generates a sequence of pushes that steers the object to a goal grasp. We evaluate the performance of the planner for the case of a parallel-jaw gripper manipulating different objects, both in simulation and with real experiments. Through these examples, we highlight the important properties of the planner: respecting and exploiting the hybrid dynamics of contact sticking/sliding/rolling and a sense of efficiency with respect to discrete contact switch-overs.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1007/978-3-030-28619-4_39
