Manipulation of unknown objects via contact configuration regulation
Author(s)
Doshi, Neel; Taylor, Orion; Rodriguez, Alberto
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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
Date issued
2022-05-23Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
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