2020/11/13 by Alp Sahin, Sahin, Alp, Adam J. Spiers +3 · 1 citation
Engineering · #Robot Manipulation and Learning #Soft Robotics and Applications #Robotic Mechanisms and Dynamics
paper · pdf · doi:10.48550/arxiv.2011.07132
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize\neither high-DOF robotic hands with elaborate sensing apparatus or multi-arm\nrobotic systems. In prior work we presented a simple robot hand with variable\nfriction robot fingers, which allow a low-complexity approach to within-hand\nobject translation and rotation, though this manipulation was limited to planar\nactions. In this work we extend the capabilities of this system to 3D\nmanipulation with a novel region-based WIHM planning algorithm and utilizing\nextrinsic contacts. The ability to modulate finger friction enhances extrinsic\ndexterity for three-dimensional WIHM, and allows us to operate in the\nquasi-static level. The region-based planner automatically generates 3D\nmanipulation sequences with a modified A* formulation that navigates the\ncontact regions between the fingers and the object surface to reach desired\nregions. Central to this method is a set of object-motion primitives (i.e.\nwithin-hand sliding, rotation and pivoting), which can easily be achieved via\nchanging contact friction. A wide range of goal regions can be achieved via\nthis approach, which is demonstrated via real robot experiments following a\nstandardized in-hand manipulation benchmarking protocol.\n