Regrasping by Fixtureless Fixturing
Name
1809.08522.pdf
Description
Accepted version
Size
3.7 MB
Format
Adobe PDF
Checksum (MD5)
ebbdaceeed1d2a9caeced8458d0172ab
Author(s)
Chavan Dafle, Nikhil Narsingh
Rodriguez Garcia, Alberto
Date Issued
December 2018
Journal
IEEE 14th International Conference on Automation Science and Engineering (CASE)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Chavan-Dafie, Nikhil and Alberto Rodriguez. "Regrasping by Fixtureless Fixturing." IEEE 14th International Conference on Automation Science and Engineering (CASE), August 2018, Munich, Germany, Institute of Electrical and Electronics Engineers, December 2018. © 2018 IEEE
Version
Author's final manuscript
Abstract
This paper presents a fixturing strategy for re-grasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact keeps the object stationary while the fingers slide over the object. We call this manipulation technique fixtureless fixturing. Exploiting the mechanics of pushing, we characterize a convex polyhedral set of pushes that results in fixtureless fixturing. These pushes are robust against uncertainty in the object inertia, grasping force, and the friction at the contacts. We propose a sampling-based planner that uses the sets of robust pushes to rapidly build a tree of reachable grasps. A path in this tree is a pushing strategy, possibly involving pushes from different sides, to regrasp the object. We demonstrate the experimental validity and robustness of the proposed manipulation technique with different regrasp examples on a manipulation platform. Such fast and flexible regrasp planner facilitates versatile and flexible automation solutions.
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/10.1109/coase.2018.8560381
