Prehensile Pushing: In-hand Manipulation with Push-Primitives
Author(s)Chavan Dafle, Nikhil Narsingh; Rodriguez, Alberto
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This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such as those currently available in industrial settings, and those likely affordable by service and field robots. This paper is concerned with the mechanics of the forceful interaction between a gripper, a grasped object, and its environment. In particular, we describe the quasi-dynamic motion of an object held by a set of point, line, or planar rigid frictional contacts and forced by an external pusher (the environment). Our model predicts the force required by the external pusher to “break” the equilibrium of the grasp and estimates the instantaneous motion of the object in the grasp. It also captures interesting behaviors such as the constraining effect of line or planar contacts and the guiding effect of the pusher’s motion on the objects’s motion. We evaluate the algorithm with three primitive prehensile pushing actions—straight sliding, pivoting, and rolling—with the potential to combine into a broader in-hand manipulation capability.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Institute of Electrical and Electronics Engineers (IEEE)
Chavan-Dafle, Nikhil, and Alberto Rodriguez. "Prehensile Pushing: In-hand Manipulation with Push-Primitives." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2015).
Author's final manuscript