Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE|2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2024
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| Online Access: | https://hdl.handle.net/1721.1/155744 |
| _version_ | 1811083001741705216 |
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| author | Jiang, Rebecca H. Doshi, Neel Gondhalekar, Ravi Rodriguez, Alberto |
| author_facet | Jiang, Rebecca H. Doshi, Neel Gondhalekar, Ravi Rodriguez, Alberto |
| author_sort | Jiang, Rebecca H. |
| collection | MIT |
| description | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan |
| first_indexed | 2024-09-23T12:17:21Z |
| format | Article |
| id | mit-1721.1/155744 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:17:21Z |
| publishDate | 2024 |
| publisher | IEEE|2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| record_format | dspace |
| spelling | mit-1721.1/1557442024-09-22T04:39:50Z Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction Jiang, Rebecca H. Doshi, Neel Gondhalekar, Ravi Rodriguez, Alberto 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framework synthesizes an object trajectory and object-effector contact trajectory into an effector trajectory and shape that (a) does not penetrate the object, (b) makes contact with the object as specified, and (c) optimizes a user-specified objective. This simplifies manipulator control by encoding task-specific contact information in the effector's geometry. Our key insight is posing these requirements as constraints in the effector's reference frame, preventing the need for explicit parameterization of the effector shape. This prevents artificial restrictions on the shape design space. Importantly, it also facilitates posing the shape and motion design problem as a tractable nonlinear program. Our method is particularly useful for problems where the shape of the effector surface must be precisely chosen to achieve a task. We apply our method to several such problems, including jar-opening and picking up objects in constrained spaces. We evaluate the performance and computational cost of our method, and provide a physical experiment of a robotic arm picking up a screwdriver from a table with a designed tool. 2024-07-23T13:27:27Z 2024-07-23T13:27:27Z 2022-10-23 2024-07-23T13:23:22Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/155744 Jiang, Rebecca H., Doshi, Neel, Gondhalekar, Ravi and Rodriguez, Alberto. 2022. "Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction." en 10.1109/iros47612.2022.9981918 Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE|2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Author |
| spellingShingle | Jiang, Rebecca H. Doshi, Neel Gondhalekar, Ravi Rodriguez, Alberto Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title | Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title_full | Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title_fullStr | Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title_full_unstemmed | Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title_short | Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction |
| title_sort | shape and motion optimization of rigid planar effectors for contact trajectory satisfaction |
| url | https://hdl.handle.net/1721.1/155744 |
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