Abstract
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effectively explores the space of continuous pushes with discrete pusher contact switch-overs. We model the frictional interaction between gripper, grasped object, and pusher, by discretizing complex surface/line contacts into arrays of hard frictional point contacts. The inverse dynamics problem of finding an instantaneous pusher motion that yields a desired instantaneous object motion takes the form of a mixed nonlinear complementarity problem. Building upon this dynamics solver, our planner generates a sequence of pushes that steers the object to a goal grasp. We evaluate the performance of the planner for the case of a parallel-jaw gripper manipulating different objects, both in simulation and with real experiments. Through these examples, we highlight the important properties of the planner: respecting and exploiting the hybrid dynamics of contact sticking/sliding/rolling and a sense of efficiency with respect to discrete contact switch-overs.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bicchi, A., Sorrentino, R.: Dexterous manipulation through rolling. In: IEEE International Conference on Robotics and Automation, pp. 452–457 (1995)
Chavan-Dafle, N., Rodriguez, A.: Prehensile pushing: In-hand manipulation with push-primitives. In: IEEE International Conference on Intelligent Robots and Systems, pp. 6215 – 6222 (2015)
Chavan-Dafle, N., Rodriguez. A.: Stable prehensile pushing: in-hand manipulation with alternating sticking contacts. In: IEEE International Conference on Robotics and Automation (2018)
Chavan-Dafle, N., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S.S., Erdmann, M., Mason, M.T., Lundberg, I., Staab, H., Fuhlbrigge, T.: Extrinsic dexterity: in-hand manipulation with external forces. In: IEEE International Conference on Robotics and Automation, pp. 1578–1585 (2014)
Cherif, M., Gupta, K.: Planning quasi-static fingertip manipulations for reconfiguring objects. IEEE Trans. Robot. Autom. 15, 837–848 (1999)
Devaurs, D., Simeon, T., Cortes, J.: Optimal path planning in complex cost spaces with sampling-based algorithms. IEEE Trans. Autom. Sci. Eng. 13(2), 415–424 (2016)
Erez, T., Todorov, E.: Trajectory optimization for domains with contacts using inverse dynamics. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4914–4919 (2012)
Hou, Y., Jia, Z., Johnson, A.M., Mason, M.T.: Robust planar dynamic pivoting by regulating inertial and grip forces. In: International Workshop on the Algorithmic Foundations of Robotics (2016)
Jaillet, L., Cortes, J., Simeon, T.: Sampling-based path planning on configuration-space costmaps. IEEE Trans. Robot. 26(4), 635–646 (2010)
Kao, I., Cutkosky, M.R.: Quasistatic manipulation with compliance and sliding. Int. J. Robot. Res. 11(1), 20–40 (1992)
Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30(7), 846–894 (2011)
Kolbert, R., Chavan-Dafle, N., Rodriguez, A.: Experimental validation of contact dynamics for in-hand manipulation. In: International Symposium Experimental Robotics, pp. 633–645. Springer International Publishing, Cham (2016)
Kuffner, J.J., LaValle, S.M.: RRT-connect: an efficient approach to single-query path planning. In: IEEE International Conference on Robotics Automation, vol. 2, pp. 995–1001 (2000)
Lavalle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Technical report 98-11, Computer Science Department, Iowa State University (1998)
Mukherjee, R., Minor, M.A., Pukrushpan, J.T.: Motion planning for a spherical mobile robot: Revisiting the classical ball-plate problem. J. Dyn. Syst. Meas. Control 124(4), 502–511 (2002)
Posa, M., Cantu, C., Tedrake, R.: A direct method for trajectory optimization of rigid bodies through contact. Int. J. Robot. Res. 33(1), 69–81 (2014)
Rus, D.: In-hand dexterous manipulation of piecewise-smooth 3-D objects. Int. J. Robot. Res. 18(4), 355–381 (1999)
Salisbury, J., Craig, J.: Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4–17 (1982)
Shi, J., Woodruff, J.Z., Lynch, K.M.: Dynamic in-hand sliding manipulation. In: IEEE International Conference On Intelligent Robots and Systems, pp. 870–877 (2015)
Tassa, Y., Todorov, E.: Stochastic complementarity for local control of discontinuous dynamics. In: Robotics: Science and Systems, pp. 169–176 (2010)
Todorov, E., Erez, T., Tassa, Y.: Mujoco: a physics engine for model-based control. In: IEEE International Conference On Intelligent Robots and Systems, pp. 5026–5033 (2012)
Trinkle, J., Paul, R.: Planning for dexterous manipulation with sliding contacts. Int. J. Robot. Res. 9(3), 24–48 (1990)
Viña B, F.E., Karayiannidis, Y., Smith, C., Kragic, D.: Adaptive control for pivoting with visual and tactile feedback. In: International Conference on Robotics and Automation, pp. 399–406 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Chavan-Dafle, N., Rodriguez, A. (2020). Sampling-Based Planning of In-Hand Manipulation with External Pushes. In: Amato, N., Hager, G., Thomas, S., Torres-Torriti, M. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-030-28619-4_39
Download citation
DOI: https://doi.org/10.1007/978-3-030-28619-4_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-28618-7
Online ISBN: 978-3-030-28619-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)