Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation

Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for... This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp manipulation uses kinematic trajectory optimization which requires no knowledge of dynamic properties of the object. We implement our approach on an Allegro robot hand and perform thorough experiments on ten objects from the YCB dataset. The proposed method is general enough to generate motions for most objects the robot can grasp. Experimental results support the feasibillty of its application across a variety of object shapes. We explore the adaptability of our approach to additional task requirements by including collision avoidance and joint space smoothness costs. The grasped object avoids collisions with the environment by the use of a signed distance cost function. We reduce the effects of unmodeled object dynamics by requiring smooth joint trajectories. We additionally compensate for errors encountered during trajectory execution by formulating an object pose feedback controller. Keywords Dexterous manipulation · Trajectory optimization · Motion planning 1 Introduction and motivation ing the general in-hand manipulation problem using real world robotic hands will require a variety of http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation

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Publisher
Springer US
Copyright
Copyright © 2018 by Springer Science+Business Media, LLC, part of Springer Nature
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
D.O.I.
10.1007/s10514-018-9772-z
Publisher site
See Article on Publisher Site

Abstract

This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp manipulation uses kinematic trajectory optimization which requires no knowledge of dynamic properties of the object. We implement our approach on an Allegro robot hand and perform thorough experiments on ten objects from the YCB dataset. The proposed method is general enough to generate motions for most objects the robot can grasp. Experimental results support the feasibillty of its application across a variety of object shapes. We explore the adaptability of our approach to additional task requirements by including collision avoidance and joint space smoothness costs. The grasped object avoids collisions with the environment by the use of a signed distance cost function. We reduce the effects of unmodeled object dynamics by requiring smooth joint trajectories. We additionally compensate for errors encountered during trajectory execution by formulating an object pose feedback controller. Keywords Dexterous manipulation · Trajectory optimization · Motion planning 1 Introduction and motivation ing the general in-hand manipulation problem using real world robotic hands will require a variety of

Journal

Autonomous RobotsSpringer Journals

Published: Jun 5, 2018

References

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