Algorithms for Sensorless Manipulation Using a Vibrating Surface

Böhringer, K. F.; Bhatt, Vivek; Donald, Bruce Randall; Goldberg, Kenneth Y.

doi:10.1007/s004539910019

Cited by 81 publications

(62 citation statements)

References 47 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…They referred to this set of skills as "dynamic dexterity". Another interesting mode of dynamic non-prehensile manipulation, explored by Bohringer et al [39] and Vose et al [40], is the use of friction force fields generated by custom vibration patterns to manipulate objects in the plane.…”

Section: Active Dynamic Actionsmentioning

confidence: 99%

Extrinsic dexterity: In-hand manipulation with external forces

Dafle

Rodríguez

Paolini

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

211

109

View full text Add to dashboard Cite

Abstract-"In-hand manipulation" is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [1], is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object's surface. Dexterous manipulation, however, is just one of the many techniques available to the robot. The robot can also roll the object in the hand by using gravity, or adjust the object's pose by pressing it against a surface, or if fast enough, it can even toss the object in the air and catch it in a different pose. All these techniques have one thing in common: they rely on resources extrinsic to the hand, either gravity, external contacts or dynamic arm motions. We refer to them as "extrinsic dexterity".In this paper we study extrinsic dexterity in the context of regrasp operations, for example when switching from a power to a precision grasp, and we demonstrate that even simple grippers are capable of ample in-hand manipulation. We develop twelve regrasp actions, all open-loop and handscripted, and evaluate their effectiveness with over 1200 trials of regrasps and sequences of regrasps, for three different objects (see video [2]). The long-term goal of this work is to develop a general repertoire of these behaviors, and to understand how such a repertoire might eventually constitute a general-purpose in-hand manipulation capability.

show abstract

Section: Active Dynamic Actionsmentioning

confidence: 99%

Extrinsic dexterity: In-hand manipulation with external forces

Dafle

Rodríguez

Paolini

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

211

109

View full text Add to dashboard Cite

show abstract

“…But what we want in answer to Question 2 is a precise, provable answer. Happily, in the case where the compass is relatively accurate, 4 [2] provide the fundamental insight: Consider an automaton (of any kind) in a maze. Such an automaton effectively has a compass, since it can tell directions N,S,E,W apart.…”

Section: What Does a Compass Give You?mentioning

confidence: 99%

The Compass That Steered Robotics

Donald

2012

Logic and Program Semantics

View full text Add to dashboard Cite

Abstract. Robotics researchers will be aware of Dexter Kozen's contributions to algebraic algorithms, which have enabled the widespread use of the theory of real closed fields and polynomial arithmetic for motion planning. However, Dexter has also made several important contributions to the theory of information invariants, and produced some of the most profound results in this field. These are first embodied in his 1978 paper On the Power of the Compass, with Manuel Blum. This work has had a wide impact in robotics and nanoscience.Starting with Dexter's insights, robotics researchers have explored the problem of determining the information requirements to perform robot tasks, using the concept of information invariants. This represents an attempt to characterize a family of complicated and subtle issues concerned with measuring robot task complexity.In this vein, several measures have been proposed [14] to measure the information complexity of a task: (a) How much internal state should the robot retain? (b) How many cooperating robots are required, and how much communication between them is necessary? (c) How can the robot change (side-effect) the environment in order to record state or sensory information to perform a task? (d) How much information is provided by sensors? and (e) How much computation is required by the robot? We have considered how one might develop a kind of "calculus" on (a) -(e) in order to compare the power of sensor systems analytically. To this end, information invariants is a theory whereby one sensor can be "reduced" to another (much in the spirit of computation-theoretic reductions), by adding, deleting, and reallocating (a) -(e) among collaborating autonomous robots. As we show below, this work steers using Dexter's compass. The Power of the CompassIn 1978, Blum and Kozen wrote a ground-breaking paper on maze-searching automata [2,38]. This chapter is devoted to a discussion of their results, On The Power of the Compass [2], and we interpret their results in the context of autonomous mobile robots and information invariants. Transformation, Universal Reduction, etc.); these are described in Section 3.3. Small roman numerals (i), (ii) denote resources for information invariants in massively-parallel distributed manipulation and nanoscience (Section 3.2). The Scales Fall from My EyesFrom 1987-1997, I taught at Cornell, just down the hall from Dexter. My health was excellent. Every morning I drank Pepsi before teaching large undergraduate programming lectures. Each afternoon I drank espresso and wrote papers, while watching the sun set over Lake Cayuga from my office (which was the largest lair, with the best view, in Upson Hall). In the evenings I would eat dinner with Dan Huttenlocher or Ramin Zabih, and at night I played in Dexter's band, The Steamin' Weenies. I tended a large flock of enthusiastic graduate students and post-docs working on robotics. In 1990, my student Jim Jennings and I posed the following: Question 1.[35] "Let us consider a rational reconstruction of mobile robot...

show abstract

“…W e c a n t h us predict, for a given part, whether it will have 2 stable equilibria in the force eld considered. The equilibrium orientations can be calculated using (5). Note that the equilibrium con gurations of a part are independent of and , as long as 0 < < .…”

Section: B Prediction Of Equilibriamentioning

confidence: 99%

“…Current t e c hnology permits the implementation of certain force elds in the microscale with actuator arrays 11,14] built in micro electro mechanical system (MEMS) technology, and in the macroscale with transversely vibrating plates 5,6,11]. The exibility and dexterity that programmable force elds o er has led researchers to investigate the extent to which these elds can be useful.…”

Section: Introductionmentioning

confidence: 99%

Part orientation with one or two stable equilibria using programmable force fields

Böhringer

Donald

Kavraki

et al. 2000

IEEE Trans. Robot. Automat.

View full text Add to dashboard Cite

Programmable force elds are an abstraction to represent a new class of devices for distributed, nonprehensile manipulation for applications in parts feeding, sorting, positioning, and assembly. Unlike r o b o t grippers, conveyor belts, or vibratory bowl feeders, these devices generate force vector elds in which the parts move u n til they may reach a stable equilibrium pose.Recent research in the theory of programmable force elds has yielded open-loop strategies to uniquely position, orient, and sort parts. These strategies typically consist of several elds that have to be employed in sequence to achieve a desired nal pose. The length of the sequence depends on the complexity of the part.In this paper, we show that unique part poses can be achieved with just one eld. First, we exhibit a single eld that positions and orients any part (with the exception of certain symmetric parts) into two stable equilibrium poses. Then we show that for any part there exists a eld in which the part reaches a unique stable equilibrium pose (again with the exception of symmetric parts). Besides giving an optimal upper bound for unique parts positioning and orientation, our work gives further evidence that programmable force elds are a powerful tool for parts manipulation.Our second result also leads to the design of \universal parts feeders", proving an earlier conjecture about their existence. We argue that universal parts feeders are relatively easy to build, and we report on extensive s i m ulation results which indicate that these devices may w ork very well in practice. We believe that the results in this paper could be the basis for a new generation of e cient, open-loop, parallel parts feeders.

show abstract

Algorithms for Sensorless Manipulation Using a Vibrating Surface

Cited by 81 publications

References 47 publications

Extrinsic dexterity: In-hand manipulation with external forces

Extrinsic dexterity: In-hand manipulation with external forces

The Compass That Steered Robotics

Part orientation with one or two stable equilibria using programmable force fields

Contact Info

Product

Resources

About