Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
Author(s)Chavan Dafle, Nikhil Narsingh; Rodriguez Garcia, Alberto
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This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
Chavan-Dafle, Nikhil and Alberto Rodriguez. "Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts." IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia, Institute of Electrical and Electronics Engineers, September 2018 © 2018 IEEE