Planar in-hand manipulation via motion cones
In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its construction to a broader...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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SAGE Publications
2021
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| Online Access: | https://hdl.handle.net/1721.1/129789 |
| _version_ | 1826216524773326848 |
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| author | Chavan Dafle, Nikhil Narsingh Holladay, Rachel Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Chavan Dafle, Nikhil Narsingh Holladay, Rachel Rodriguez, Alberto |
| author_sort | Chavan Dafle, Nikhil Narsingh |
| collection | MIT |
| description | In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its construction to a broader set of planar tasks, such as those where external forces including gravity influence the dynamics of pushing, or prehensile tasks, where there are complex frictional interactions between the gripper, object, and pusher. We show that the motion cone is defined by a set of low-curvature surfaces and approximate it by a polyhedral cone. We verify its validity with thousands of pushing experiments recorded with a motion tracking system. Motion cones abstract the algebra involved in the dynamics of frictional pushing and can be used for simulation, planning, and control. In this article, we demonstrate their use for the dynamic propagation step in a sampling-based planning algorithm. By constraining the planner to explore only through the interior of motion cones, we obtain manipulation strategies that are robust against bounded uncertainties in the frictional parameters of the system. Our planner generates in-hand manipulation trajectories that involve sequences of continuous pushes, from different sides of the object when necessary, with 5–1,000 times speed improvements to equivalent algorithms. |
| first_indexed | 2024-09-23T16:49:05Z |
| format | Article |
| id | mit-1721.1/129789 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:49:05Z |
| publishDate | 2021 |
| publisher | SAGE Publications |
| record_format | dspace |
| spelling | mit-1721.1/1297892024-02-13T21:04:28Z Planar in-hand manipulation via motion cones Chavan Dafle, Nikhil Narsingh Holladay, Rachel Rodriguez, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its construction to a broader set of planar tasks, such as those where external forces including gravity influence the dynamics of pushing, or prehensile tasks, where there are complex frictional interactions between the gripper, object, and pusher. We show that the motion cone is defined by a set of low-curvature surfaces and approximate it by a polyhedral cone. We verify its validity with thousands of pushing experiments recorded with a motion tracking system. Motion cones abstract the algebra involved in the dynamics of frictional pushing and can be used for simulation, planning, and control. In this article, we demonstrate their use for the dynamic propagation step in a sampling-based planning algorithm. By constraining the planner to explore only through the interior of motion cones, we obtain manipulation strategies that are robust against bounded uncertainties in the frictional parameters of the system. Our planner generates in-hand manipulation trajectories that involve sequences of continuous pushes, from different sides of the object when necessary, with 5–1,000 times speed improvements to equivalent algorithms. NSF (Award DGE-1122374) 2021-02-17T16:56:21Z 2021-02-17T16:56:21Z 2020-03 2019-10 2020-08-03T17:27:58Z Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 https://hdl.handle.net/1721.1/129789 Chavan-Dafle, Nikhil et al. "Planar in-hand manipulation via motion cones." International Journal of Robotics Research 39, 2-3 (March 2020): 163-182. en 10.1177/0278364919880257 International Journal of Robotics Research Creative Commons Attribution-NonCommercial-NoDerivs License http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf SAGE Publications Sage |
| spellingShingle | Chavan Dafle, Nikhil Narsingh Holladay, Rachel Rodriguez, Alberto Planar in-hand manipulation via motion cones |
| title | Planar in-hand manipulation via motion cones |
| title_full | Planar in-hand manipulation via motion cones |
| title_fullStr | Planar in-hand manipulation via motion cones |
| title_full_unstemmed | Planar in-hand manipulation via motion cones |
| title_short | Planar in-hand manipulation via motion cones |
| title_sort | planar in hand manipulation via motion cones |
| url | https://hdl.handle.net/1721.1/129789 |
| work_keys_str_mv | AT chavandaflenikhilnarsingh planarinhandmanipulationviamotioncones AT holladayrachel planarinhandmanipulationviamotioncones AT rodriguezalberto planarinhandmanipulationviamotioncones |