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Force-and-Motion Constrained Planning for Tool Use

Rachel Holladay, Tomas Lozano-Perez, Alberto Rodriguez
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The feasible application of a tool, such as pulling a nail with a hammer claw, requires careful coordination of the choice of grasp and joint trajectories to ensure kinematic and force limits are not exceededin  ...  The use of hand tools presents a challenge for robot manipulation in part because it calls for motions requiring continuous force application over a whole trajectory, usually involving large joint-angle  ...  Kinematically-Feasible Grasping We want to select a grasp that makes it kinematically feasible to plan ξ a , the manipulator motion that executes the tool action.  ... 
doi:10.1109/iros40897.2019.8967889 dblp:conf/iros/HolladayLR19 fatcat:4j7kyxf7lfecrn2cads2r5vkje

Planar in-hand manipulation via motion cones

Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez
2019 The international journal of robotics research  
We verify its validity with thousands of pushing experiments recorded with a motion tracking 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  ...  It allows us to explore the connectivity of the configuration space for planning through regions/volumes of the configuration space for contact-rich manipulations (Brock and Kavraki, 2001; Morales et  ... 
doi:10.1177/0278364919880257 fatcat:xxsythwj3zahdhndsqk6amr5v4

Learning to Reorient Objects with Stable Placements Afforded by Extrinsic Supports [article]

Peng Xu, Hu Cheng, Jiankun Wang, Max Q.-H. Meng
2022 arXiv   pre-print
planning.  ...  We propose generative models to predict objects' stable placements afforded by supporting items from observed point clouds.  ...  The motion primitives are checked to make sure they are collision-free and IK-feasible. As depicted in Fig. 3 , the motion primitives provide sufficient manipulation space for reorienting objects.  ... 
arXiv:2205.06970v1 fatcat:y5qhe3npqrabzoxlcmpzenolsu

Planning Wrench-Feasible Motions for Cable-Driven Hexapods

Oriol Bohigas, Montserrat Manubens, Lluis Ros
2016 IEEE Transactions on robotics  
Index Terms-Cable-driven hexapod, wrench-feasible C-space, higherdimensional continuation, singularity-free path planning.  ...  The configuration space, or C-space for short, is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one  ...  We can now define the C-space of the manipulator, C, as the set of wrench-feasible configurations q ∈ SE(3) that satisfy Eqs. (1)-(3) for i = 1, . . . , 6.  ... 
doi:10.1109/tro.2016.2529640 fatcat:6u36xzevkfdjrchfbjlwbqitle

An overview of 3D object grasp synthesis algorithms

A. Sahbani, S. El-Khoury, P. Bidaud
2012 Robotics and Autonomous Systems  
This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands.  ...  Velocity and force manipulability ellipsoids show feasible motions and achievable forces in the task space, respectively.  ...  in the object wrench space.  ... 
doi:10.1016/j.robot.2011.07.016 fatcat:wjex7zzdw5aonh5xzpajsperhe

Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task

Hao Dang, Peter K. Allen
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We show experiments planning semantic grasps on everyday objects and executing these grasps with a physical robot.  ...  We design an example based planning framework to generate semantic grasps, stable grasps that are functionally suitable for specific object manipulation tasks.  ...  [6] , analyzed task-oriented grasping using task wrench space. These approaches are mainly based on the analysis of the contacts and the potential wrench space of a grasp.  ... 
doi:10.1109/iros.2012.6385563 dblp:conf/iros/DangA12 fatcat:zzu5skwa6bgqtgalkytry3nase

Semantic grasping: planning task-specific stable robotic grasps

Hao Dang, Peter K. Allen
2014 Autonomous Robots  
We show experiments planning semantic grasps on everyday objects and applying these grasps with a physical robot.  ...  We present an example-based planning framework to generate semantic grasps, stable grasps that are functionally suitable for specific object manipulation tasks.  ...  These approaches are mainly based on the analysis of contacts and potential wrench space of a grasp, since optimal grasp wrench space could improve the performance of object manipulation tasks that require  ... 
doi:10.1007/s10514-014-9391-2 fatcat:bdazzjdkdrd2flle33ckr6stpm

The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

2018 IEEE robotics & automation magazine  
It presents aerial robotic manipulators with dual arms and multi-directional thrusters.  ...  perception methods for localization, mapping and inspection, and planning methods, including a new control-aware approach for aerial manipulation.  ...  Planning directly at the task level enables a more straight formulation of task-constrained motion planning problems, and generally reduces the dimensionality of the search space.  ... 
doi:10.1109/mra.2018.2852789 fatcat:kaekerewqvdahcwq7grccmhjt4

Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary [article]

Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand, Andrew Watson, Joseph S. Altemus, R. Scott Askew, Lyndon Bridgwater, Beau Domingue, Charlie Kendrick, Jason Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson (+8 others)
2019 arXiv   pre-print
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task.  ...  To demonstrate and evaluate robot capabilities, sub-tasks highlight different locomotion, manipulation, and perception requirements: traversing uneven terrain, passing through a narrow passageway, opening  ...  Additionally, a variety of high-level interfaces † , such as task-space and joint-space spline trajectory generation, planning toolboxes, and control mode changes are exposed to aid with commanding the  ... 
arXiv:1910.00761v1 fatcat:tm2dnyspsbh77ob7rdxpkjf5eq

Robotic Grasping from Classical to Modern: A Survey [article]

Hanbo Zhang, Jian Tang, Shiguang Sun, Xuguang Lan
2022 arXiv   pre-print
With the development of computer vision, semantic grasping is being widely investigated and can be the basis of intelligent manipulation and skill learning for autonomous robotic systems in the future.  ...  It demands the coordination of robotic perception, planning, and control for robustness and intelligence.  ...  Planning algorithms [129] are feasible to handle such situations given environment models.  ... 
arXiv:2202.03631v1 fatcat:xkwyelt5tfd5jnkhjkgxqlkevq

A task-driven algorithm for configuration synthesis of modular robots

Esra Icer, Andrea Giusti, Matthias Althoff
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
In contrast to previous works, we present a configuration synthesis method for modular manipulators, considering collision detection and path planning in task space.  ...  Most studies on modular robots focus on obtaining combinations of modules to achieve a given task without considering the required path planning in an environment with obstacles.  ...  Generation of Compositions with Feasible Initial and Goal Positions B. Path Generation in Obstacle-Free Environment Feasible path from start to goal exists (without obstacles) a. Plan path b.  ... 
doi:10.1109/icra.2016.7487727 dblp:conf/icra/IcerGA16 fatcat:bzcy63dvenhjlmcwg7wtpevvpi

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter [article]

Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 arXiv   pre-print
The results show that a robot can effectively and flexibly work together with a vacuum lifter to manipulate large and heavy plate-like objects with the methods' support.  ...  First, we build a Manipulation State Graph (MSG) to store the weighted logical relations of various plate contact states and robot/vacuum lifter configurations, and search the graph to plan efficient and  ...  With the support of this suction force and careful motion planning and control, humans can manipulate plates heavier than their affordable payload, as shown in Fig.  ... 
arXiv:2203.10585v1 fatcat:bv5bscacdjfodkfukxakqzl7vm

Complex manipulation with a simple robotic hand through contact breaking and caging

Walter G. Bircher, Andrew S. Morgan, Aaron M. Dollar
2021 Science Robotics  
In this work, we leveraged a potential energy–based whole-hand manipulation model, which does not depend on contact wrench modeling like traditional approaches, to design a robotic manipulator.  ...  Inspired by robotic caging grasps and the high levels of dexterity observed in human manipulation, a metric was developed and used in conjunction with the manipulation model to design a two-fingered dexterous  ...  With this in mind, in Fig. 2 , the caging manipulation design spaces can be imagined as slightly lighter versions of the manipulation design spaces for any topologies where caging design spaces are not  ... 
doi:10.1126/scirobotics.abd2666 pmid:34043534 fatcat:pfs6qhx4crg3zfsjsx3mfwic6m

Transferring functional grasps through contact warping and local replanning

Ulrich Hillenbrand, Maximo A. Roa
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Manipulation knowledge is hence generalized from a single example to a class of objects with a significant amount of shape variability.  ...  The transfer is achieved through warping the surface geometry of the source object onto the target object, and along with it the contact points of a grasp.  ...  used to adjust the metric of the wrench space, which depends in general on the object size.  ... 
doi:10.1109/iros.2012.6385989 dblp:conf/iros/HillenbrandR12 fatcat:5t6tolsvefetzgzhwkpqskc63m

Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning [article]

Jeffrey Mahler, Matthew Matl, Xinyu Liu, Albert Li, David Gealy, Ken Goldberg
2018 arXiv   pre-print
To characterize grasps, we estimate robustness to perturbations in end-effector and object pose, material properties, and external wrenches.  ...  We evaluate the resulting system in 350 physical trials on an ABB YuMi fitted with a pneumatic suction gripper.  ...  While grasp planning searches for gripper configurations that maximize a quality metric derived from mechanical wrench space analysis [24] , human labels [28] , or selfsupervised labels [20] , suction  ... 
arXiv:1709.06670v2 fatcat:wolido6iijekdapthokhdhzjrq
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