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