Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
Abstract
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 the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner. Video Summary -- youtu.be/qOTKRJMx6Ho
- Publication:
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arXiv e-prints
- Pub Date:
- October 2017
- DOI:
- 10.48550/arXiv.1710.11097
- arXiv:
- arXiv:1710.11097
- Bibcode:
- 2017arXiv171011097C
- Keywords:
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- Computer Science - Robotics
- E-Print:
- IEEE International Conference on Robotics and Automation 2018