Dextrous manipulation with rolling contacts

Han, Lina; Guan, Yisheng; Li, Z.X.; Shi, Qiankun; Trinkle, Jeff

doi:10.1109/robot.1997.614264

Cited by 74 publications

(35 citation statements)

References 4 publications

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“…Given Theorem 1 and the consideration in Equation 9, we have that the null space grasp controller converges to unit frictionless force equilibrium. As f approaches zero, Lemma Since the two contacts are assumed never to be concurrent, this only occurs when p, q, s, a, and b are zero.…”

Section: Proofmentioning

confidence: 95%

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Null-Space Grasp Control: Theory and Experiments

2010

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Section: Proofmentioning

confidence: 95%

“…Given the constraints associated with each grasp class, force closure grasps were found using optimization techniques. These ideas can be extended to in-hand manipulation by using the kinematics of rolling contact to move between different geometrically characterized grasp configurations [9], [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Null-Space Grasp Control: Theory and Experiments

2010

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“…Han et al [12,13] attempt in-hand manipulation with rolling contacts and finger gaiting requiring knowledge of the object surface. They solve for Cartesian space finger-tip and object poses.…”

Section: Related Workmentioning

confidence: 99%

Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization

Sundaralingam

Hermans

2017

Robotics: Science and Systems XIII

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Abstract-This paper proposes a novel approach to performing in-grasp manipulation planning: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp manipulation uses kinematic trajectory optimization which requires no knowledge of dynamic properties of the object or the robot. We define a cost function that attempts to maintain the initial grasp points, while relaxing the constraint that the contacts between finger and object remain rigid. Hence, we name this new formulation relaxed-rigidity constraints. We implement our approach on an Allegro robot hand and perform experiments on 10 objects from the YCB dataset. However, the implementation would work for any object the robot can grasp. We perform thorough analysis and compare to alternative optimization formulations. Our method reaches the desired object pose with a median position error of 13mm across all of the 500 trials without ever dropping the object.

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“…Such a hand is often referred to as a dexterous hand. Subsequent work relaxed those assumptions to include rolling [13,14], sliding [15], finger gaiting [16,17,18,19,20,21], and global controllability of object orientation [22,23]. Despite numerous generalizations to Salisbury's work, few attempt to alleviate the need for full hand actuation.…”

Section: Related Workmentioning

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)

216

109

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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.

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Dextrous manipulation with rolling contacts

Cited by 74 publications

References 4 publications

Null-Space Grasp Control: Theory and Experiments

Null-Space Grasp Control: Theory and Experiments

Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization

Extrinsic dexterity: In-hand manipulation with external forces

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