Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
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 o...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/126807 |
| _version_ | 1826198655138267136 |
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| author | Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto |
| author_sort | Chavan Dafle, Nikhil Narsingh |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T11:08:09Z |
| format | Article |
| id | mit-1721.1/126807 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:08:09Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1268072022-10-01T01:30:56Z Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering 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. 2020-08-25T19:45:50Z 2020-08-25T19:45:50Z 2018-09 2018-05 2020-08-03T12:51:00Z Article http://purl.org/eprint/type/ConferencePaper 9781538630815 https://hdl.handle.net/1721.1/126807 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 en http://dx.doi.org/10.1109/icra.2018.8461243 IEEE International Conference on Robotics and Automation (ICRA) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title | Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title_full | Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title_fullStr | Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title_full_unstemmed | Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title_short | Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts |
| title_sort | stable prehensile pushing in hand manipulation with alternating sticking contacts |
| url | https://hdl.handle.net/1721.1/126807 |
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