Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 1-5, 2023. Detroit, USA
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE|2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2024
|
| Online Access: | https://hdl.handle.net/1721.1/155755 |
| _version_ | 1824457919522930688 |
|---|---|
| author | Taylor, Orion Doshi, Neel Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Taylor, Orion Doshi, Neel Rodriguez, Alberto |
| author_sort | Taylor, Orion |
| collection | MIT |
| description | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 1-5, 2023. Detroit, USA |
| first_indexed | 2024-09-23T08:57:16Z |
| format | Article |
| id | mit-1721.1/155755 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2025-02-19T04:17:39Z |
| publishDate | 2024 |
| publisher | IEEE|2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| record_format | dspace |
| spelling | mit-1721.1/1557552024-12-23T05:57:45Z Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts Taylor, Orion Doshi, Neel Rodriguez, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 1-5, 2023. Detroit, USA In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We further develop our estimator and controller to enable manipulation through more complex contact interactions, including intermittent contact between the robot/object, and multiple contacts between the object/environment. In addition, we support a larger set of contact geometries at each interface. This is accomplished through a factor graph based estimation framework that reasons about the complementary kinematic and wrench constraints of contact to predict the current contact configuration. We are aided by the incorporation of a limited amount of visual feedback; which when combined with the available F/T sensing and robot proprioception, allows us to differentiate contact modes that were previously indistinguishable. We implement this revamped framework on our manipulation platform, and demonstrate that it allows the robot to perform a wider set of manipulation tasks. This includes, using a wall as a support to re-orient an object, or regulating the contact geometry between the object and the ground. Finally, we conduct ablation studies to understand the contributions from visual and tactile feedback in our manipulation framework. Our code can be found at: https://github.com/mcubelab/pbal. 2024-07-23T15:28:51Z 2024-07-23T15:28:51Z 2023-10-01 2024-07-23T15:25:09Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/155755 Taylor, Orion, Doshi, Neel and Rodriguez, Alberto. 2023. "Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts." en 10.1109/iros55552.2023.10341362 Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE|2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Author |
| spellingShingle | Taylor, Orion Doshi, Neel Rodriguez, Alberto Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title | Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title_full | Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title_fullStr | Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title_full_unstemmed | Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title_short | Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts |
| title_sort | object manipulation through contact configuration regulation multiple and intermittent contacts |
| url | https://hdl.handle.net/1721.1/155755 |
| work_keys_str_mv | AT taylororion objectmanipulationthroughcontactconfigurationregulationmultipleandintermittentcontacts AT doshineel objectmanipulationthroughcontactconfigurationregulationmultipleandintermittentcontacts AT rodriguezalberto objectmanipulationthroughcontactconfigurationregulationmultipleandintermittentcontacts |