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تسجيل مستخدم جديدGeometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation
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نشر من قبل
Balakumar Sundaralingam
تاريخ النشر
2018
مجال البحث
الهندسة المعلوماتية
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English
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This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robots fingers. We propose a planner for this problem which alternates between finger gaiting, and in-grasp manipulation. Finger gaiting enables the robot to move a single finger to a new contact location on the object, while the remaining fingers stably hold the object. In-grasp manipulation moves the object to a new pose relative to the robots palm, while maintaining the contact locations between the hand and object. Given the objects geometry (as a mesh), the hands kinematic structure, and the initial and desired grasps, we plan a sequence of finger gaits and object reposing actions to reach the desired grasp without dropping the object. We propose an optimization based approach and report in-hand regrasping plans for 5 objects over 5 in-hand regrasp goals each. The plans generated by our planner are collision free and guarantee kinematic feasibility.
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This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to
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