Robust In-Hand Manipulation with Extrinsic Contacts
Fuente:
arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866913288002994176 |
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| author | Liang, Boyuan Ota, Kei Tomizuka, Masayoshi Jha, Devesh |
| author_facet | Liang, Boyuan Ota, Kei Tomizuka, Masayoshi Jha, Devesh |
| contents | We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact interactions which can be very susceptible to uncertainties in kinematic and physical parameters. Therefore, we propose a robust in-hand manipulation method, which consists of two parts. First, an in-gripper mechanics model that computes a naïve motion cone assuming all parameters are precise. Then, a robust planning method refines the motion cone to maintain desired contact mode regardless of parametric errors. Real-world experiments were conducted to illustrate the accuracy of the mechanics model and the effectiveness of the robust planning framework in the presence of kinematics parameter errors. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_18960 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Robust In-Hand Manipulation with Extrinsic Contacts Liang, Boyuan Ota, Kei Tomizuka, Masayoshi Jha, Devesh Robotics We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact interactions which can be very susceptible to uncertainties in kinematic and physical parameters. Therefore, we propose a robust in-hand manipulation method, which consists of two parts. First, an in-gripper mechanics model that computes a naïve motion cone assuming all parameters are precise. Then, a robust planning method refines the motion cone to maintain desired contact mode regardless of parametric errors. Real-world experiments were conducted to illustrate the accuracy of the mechanics model and the effectiveness of the robust planning framework in the presence of kinematics parameter errors. |
| title | Robust In-Hand Manipulation with Extrinsic Contacts |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.18960 |