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Manipulation Planning
Manipulation PlanningLocomotion ~ Manipulation
2
Moving in the Robot x Object Space Configuration space is
Crobot x Cobject
Assume object can only be grasped or ungrasped (no tilting, etc)
Transit Paths
Let Cstable be the subset of Cobject where the object is supported by the environment
Let qobject be a stable object configuration
A transit path is a collision free path of the robot-object system in Crobot x {qobject}
Static Equilibrium
Need forces at contacts to support robot against gravity
mgf1
f2
021 mgff
0)()( 2211 pcfpcf
Force balance
Torque balance
2211 , FCfFCf Friction constraint
Transfer Paths
Let Cgrasp be the subset of Crobot x Cobject where the robot grasps the object Object has fixed relative
transformation to the robot’s gripper
A transit path is a path in Cgrasp where the object starts and stops in Cstable
Force Closure Grasps
For any force/torque on the object, there exists a balancing set of contact forces
Issues
How does a planner choose:The grasp(s)?The start and end of each transfer path?
Generalizing this to non-grasping actions
Multi-Modal PlanningLegged Locomotion Navigation among Movable Obstacles
Manipulation with Grasps & Regrasps Dexterous Manipulation
Stilman et. al. 2007Bretl 2006
Cortes et al 2002
Saut et. al. 2007
Mode = contact state
Toward the Future
IU Robotics Open House
Part of National Robotics Week Friday, April 16th
More information forthcoming…
Project Midterm Presentations
3/9 and 3/11 10 minute presentation
Describe project goals (be specific)What milestones have you achieved so far?Pictures, videos of work in progressTimeline