Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces

Chen, Lipeng; Figueredo, Luis Felipe da Cruz; Dogar, Mehmet R.

doi:10.1109/humanoids43949.2019.9034998

Cited by 7 publications

(9 citation statements)

References 21 publications

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“…This highlights that it is possible to plan for multiple operations with human comfort in mind, ensuring no operation demands too much muscular activity. This result paves the way for integrating more elaborate motion/task planners that consider continuous and/or sequential forceful interactions (e.g., [15,17]) while minimizing the total muscular activity required from the human co-worker.…”

Section: Optimization Performance: Multiple Tasksmentioning

confidence: 92%

Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

FigueredoLuis

Castro

ChenLipeng

et al. 2021

J. Hum.-Robot Interact.

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This work addresses the problem of planning a robot configuration and grasp to position a shared object during forceful human-robot collaboration, such as a puncturing or a cutting task. Particularly, our goal is to find a robot configuration that positions the jointly manipulated object such that the muscular effort of the human, operating on the same object, is minimized while also ensuring the stability of the interaction for the robot. This raises three challenges. First, we predict the human muscular effort given a human-robot combined kinematic configuration and the interaction forces of a task. To do this, we perform task-space to muscle-space mapping for two different musculoskeletal models of the human arm. Second, we predict the human body kinematic configuration given a robot configuration and the resulting object pose in the workspace. To do this, we assume that the human prefers the body configuration that minimizes the muscular effort. And third, we ensure that, under the forces applied by the human, the robot grasp on the object is stable and the robot joint torques are within limits. Addressing these three challenges, we build a planner that, given a forceful task description, can output the robot grasp on an object and the robot configuration to position the shared object in space. We quantitatively analyze the performance of the planner and the validity of our assumptions. We conduct experiments with human subjects to measure their kinematic configurations, muscular activity, and force output during collaborative puncturing and cutting tasks. The results illustrate the effectiveness of our planner in reducing the human muscular load. For instance, for the puncturing task, our planner is able to reduce muscular load by 69.5\% compared to a user-based selection of object poses.

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Section: Optimization Performance: Multiple Tasksmentioning

confidence: 92%

Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

FigueredoLuis

Castro

ChenLipeng

et al. 2021

J. Hum.-Robot Interact.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Mahschitz et al termed "sequential forceful interaction tasks" as those characterized by point-to-point movements and an interaction where the robot must actively apply a wrench [14]. Chen et al define "forceful operations" as a 6D wrench f applied at a pose p with respect to a target object [1]. In this paper, we adopt their definition of forceful operations to characterize the type of interactions our system plans for.…”

Section: Background and Related Workmentioning

confidence: 99%

“…Borrowing from Chen et al, we are interested in tasks that involve forceful operations, where the robot exerts a 6D wrench ([f x , f y , f z , t x , t y , t z ]) on an object [1]. Actions To open a childproof bottle, the robot must forcefully push and twist the lid, while fixturing the bottle.…”

Section: A Problem Definitionmentioning

confidence: 99%

“…Forceful operations, as defined by Chen et al, are the exertion of a wrench (generalized force/torque) at a point on an object [1]. These operations are intended to be quasistatically stable, i.e.…”

Section: Introductionmentioning

confidence: 99%

“…To accomplish complex, multi-step forceful manipulation tasks, robots need to be able to make discrete decisions, such as whether to push on the lid with the fingers, the palm or a tool, and whether to secure the bottle via frictional contact 1 Rachel Holladay and Tomás Lozano-Pérez are with the Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, {rhollada,tlp@mit}.edu. 2 Alberto Rodriguez is with the Mechanical Engineering Department, Massachusetts Institute of Technology, albertor@mit.edu.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Planning for Multi-stage Forceful Manipulation

Holladay¹,

Lozano-Pérez²,

Rodríguez³

2021

Preprint

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Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such as whether to pick up an object, and the continuous parameters of each of those actions, such as how to grasp the object. In forceful manipulation tasks, the force requirements substantially impact the choices of both strategy and parameters. To enable planning and executing forceful manipulation, we augment an existing task and motion planner with controllers that exert wrenches and constraints that explicitly consider torque and frictional limits. In two domains, opening a childproof bottle and twisting a nut, we demonstrate how the system considers a combinatorial number of strategies and how choosing actions that are robust to parameter variations impacts the choice of strategy. https://mcube.mit.edu/forceful-manipulation/

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Estimation of the External Forces on a Robot Hand with Fingertip Tactile Sensors

Kim

2022

Int. J. Control Autom. Syst.

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Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces

Cited by 7 publications

References 21 publications

Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

Planning for Multi-stage Forceful Manipulation

Estimation of the External Forces on a Robot Hand with Fingertip Tactile Sensors

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