Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment

Patankar, Aditya; Fakhari, Amin; Chakraborty, Nilanjan

doi:10.1109/iros45743.2020.9341316

Cited by 11 publications

(9 citation statements)

References 25 publications

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“…The physical examination goes after the geometric examination to further investigate force feasibilities. It is carried out by solving an optimization problem using a Second-Order Cone Program (SOCP) [52]. To formulate the optimization problem, we define F gi , F p , F ej , F s as the wrenches exerted or borne by the grasping fingers, the pushing hand, the environment, and the vacuum lifter.…”

Section: B Dense Contact State Graph For Specific Robot-vacuum Config...mentioning

confidence: 99%

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

Hayakawa¹,

Wan²,

Koyama³

et al. 2022

Preprint

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Section: B Dense Contact State Graph For Specific Robot-vacuum Config...mentioning

confidence: 99%

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

Hayakawa¹,

Wan²,

Koyama³

et al. 2022

Preprint

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“…When w task has only a pure torque τ t (i.e., f t = 0), h = ∞ and the screw axis S is along τ t , otherwise, it is along f t . Note that the term q × f s l in (15) represents the moment of the force f s about the origin of the reference frame. Therefore, any spatial wrench w task can be represented by three screw coordinates of the magnitude (f s or τ s ), the pitch (h), and the axis (l and q).…”

Section: F Task-dependent Grasp Metric As a Socpmentioning

confidence: 99%

“…and µ ej , e et,j , e eo,j ∈ R ++ are the parameters of anisotropic friction at the j-th environment contact [15]. The simulation parameters are given in Table II and it is assumed that the maximum normal forces at the object-manipulator contacts are f cn,1 = 25N and f cn,2 = 30N.…”

Section: B Pivoting and Sliding An Object On A Support Surfacementioning

confidence: 99%

“…We incorporate frictional contact of the object with the environment (if there are any). Thus, our grasp metric can be used to evaluate a grasp meant to manipulate an object by using the environment (which is a useful way for manipulating objects both to increase the dexterity [14] and payload capability of the robot [15]). To the best of our knowledge, this is the first grasp metric with such capability.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Computing a Task-Dependent Grasp Metric Using Second Order Cone Programs

Fakhari¹,

Patankar²,

Xie³

et al. 2021

Preprint

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Evaluating a grasp generated by a set of handobject contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second order cone program (SOCP) based optimization formulation for evaluating a grasps' ability to apply wrenches to generate a linear motion along a given direction and/or an angular motion about the given direction. Our quality measure can be computed efficiently, since the SOCP is a convex optimization problem, which can be solved optimally with interior point methods. A key feature of our approach is that we can consider the effect of contact wrenches from any contact of the object with the environment. This is different from the extant literature where only the effect of finger-object contacts is considered. Exploiting the environmental contact is useful in many manipulation scenarios either to enhance the dexterity of simple hands or improve the payload capability of the manipulator. In contrast to most existing approaches, our approach also takes into account the practical constraint that the maximum contact force that can be applied at a finger-object contact can be different for each contact. We can also include the effect of external forces like gravity, as well as the joint torque constraints of the fingers/manipulators. Furthermore, for a given motion path as a constant screw motion or a sequence of constant screw motions, we can discretize the path and compute a global grasp metric to accomplish the whole task with a chosen set of finger-object contact locations.

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“…and (C F , E i F ) (i = 1, ..., n) are given. Moreover, our force planning problem is computing the minimum contact wrenches required to be applied at c i during the object manipulation to balance the external wrenches (e.g., gravity) and also the environment contact wrenches using the method we have presented in [1]. Solution Approach Overview: Generally speaking, to move an object while maintaining contact we can use two primitive motions, namely, (1) sliding on a vertex, edge, or face of the object in contact with the environment (Fig.…”

Section: Problem Statementmentioning

confidence: 99%

Motion and Force Planning for Manipulating Heavy Objects by Pivoting

Fakhari¹,

Patankar²,

Chakraborty³

2020

Preprint

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Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to use a sequence of pivoting motions, wherein, an object is moved while some contact points between the object and a support surface are kept fixed. The goal of this paper is to develop an algorithmic approach for automated plan generation for object manipulation with a sequence of pivoting motions. A plan for manipulating a heavy object consists of a sequence of joint angles of the manipulator, the corresponding object poses, as well as the joint torques required to move the object. The constraint of maintaining object contact with the ground during manipulation results in nonlinear constraints in the configuration space of the robot, which is challenging for motion planning algorithms. Exploiting the fact that pivoting motion corresponds to movements in a subgroup of the group of rigid body motions, SE(3), we present a novel task-space based planning approach for computing a motion plan for both the manipulator and the object while satisfying contact constraints. We also combine our motion planning algorithm with a grasping force synthesis algorithm to ensure that friction constraints at the contacts and actuator torque constraints are satisfied. We present simulation results with a dual-armed Baxter robot to demonstrate our approach.

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Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment

Cited by 11 publications

References 25 publications

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

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

Computing a Task-Dependent Grasp Metric Using Second Order Cone Programs

Motion and Force Planning for Manipulating Heavy Objects by Pivoting

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