Regrasping by Fixtureless Fixturing
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 ob...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/128620 |
| _version_ | 1811097674799120384 |
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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 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. |
| first_indexed | 2024-09-23T17:03:07Z |
| format | Article |
| id | mit-1721.1/128620 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T17:03:07Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1286202022-09-29T23:19:49Z Regrasping by Fixtureless Fixturing Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering 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. 2020-11-24T16:15:55Z 2020-11-24T16:15:55Z 2018-12 2018-08 2020-08-03T12:45:08Z Article http://purl.org/eprint/type/ConferencePaper 9781538635933 2161-8089 https://hdl.handle.net/1721.1/128620 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 en http://dx.doi.org/10.1109/coase.2018.8560381 IEEE 14th International Conference on Automation Science and Engineering (CASE) 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 Regrasping by Fixtureless Fixturing |
| title | Regrasping by Fixtureless Fixturing |
| title_full | Regrasping by Fixtureless Fixturing |
| title_fullStr | Regrasping by Fixtureless Fixturing |
| title_full_unstemmed | Regrasping by Fixtureless Fixturing |
| title_short | Regrasping by Fixtureless Fixturing |
| title_sort | regrasping by fixtureless fixturing |
| url | https://hdl.handle.net/1721.1/128620 |
| work_keys_str_mv | AT chavandaflenikhilnarsingh regraspingbyfixturelessfixturing AT rodriguezgarciaalberto regraspingbyfixturelessfixturing |