Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

Hou, Yifan; Mason, Matthew T.

doi:10.1109/icra.2019.8794366

Cited by 31 publications

(31 citation statements)

References 27 publications

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“…1) Exerting Force: Forceful interaction involves exerting a wrench at a pose. While there are several control methods for this, such as force control [26] or hybrid position-force control [27], [28], we opt to use a Cartesian impedance controller. Cartesian impedance control treats the interplay of interaction forces and motion deviations as a massspring-damper system [29].…”

Section: B Constraints On Forceful Operationsmentioning

confidence: 99%

Planning for Multi-stage Forceful Manipulation

Holladay¹,

Lozano-Pérez²,

Rodríguez³

2021

Preprint

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Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such as whether to pick up an object, and the continuous parameters of each of those actions, such as how to grasp the object. In forceful manipulation tasks, the force requirements substantially impact the choices of both strategy and parameters. To enable planning and executing forceful manipulation, we augment an existing task and motion planner with controllers that exert wrenches and constraints that explicitly consider torque and frictional limits. In two domains, opening a childproof bottle and twisting a nut, we demonstrate how the system considers a combinatorial number of strategies and how choosing actions that are robust to parameter variations impacts the choice of strategy. https://mcube.mit.edu/forceful-manipulation/

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Section: B Constraints On Forceful Operationsmentioning

confidence: 99%

Planning for Multi-stage Forceful Manipulation

Holladay¹,

Lozano-Pérez²,

Rodríguez³

2021

Preprint

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“…By pressing a grasped object against a support, the robot can do in-hand manipulation [33,12,15,4] or transport the object without bearing its full weight [1,38]. Without a grasp, a finger can still move an object by planar pushing [19,41,11], pivoting or tumbling [30,14]. Dafle et al [7] demonstrated that a simple robot hand can do many tasks by sequencing multiple open loop actions with external contacts.…”

Section: A Manipulation Modeling With External Contactsmentioning

confidence: 99%

Manipulation with Shared Grasping

Hou

Jia²,

Mason

2020

Preprint

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A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and enables manipulation even when a full grasp is not possible. Previous research has used shared grasps for non-prehensile manipulation such as pivoting and tumbling. This paper treats the problem more generally, with methods to select the best shared grasp and robot actions for a desired object motion. The central issue is to evaluate the feasible contact modes: for each contact, whether that contact will remain active, and whether slip will occur. Robustness is important. When a contact mode fails, e.g., when a contact is lost, or when unintentional slip occurs, the operation will fail, and in some cases damage may occur. In this work, we enumerate all feasible contact modes, calculate corresponding controls, and select the most robust candidate. We can also optimize the contact geometry for robustness. This paper employs quasi-static analysis of planar rigid bodies with Coulomb friction to derive the algorithms and controls. Finally, we demonstrate the robustness of shared grasping and the use of our methods in representative experiments and examples. The video can be found at https://youtu.be/tyNhJvRYZNk

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“…In [15] the authors introduce a Hybrid Force-Velocity Controller (HFVC) that can avoid unwanted transitions between contact modes by introducing friction cone constraints. The HFVC was further used in a shared grasping application [3] where a robot manipulator rotates a non-rigidly attached wooden block on its sides and corners.…”

Section: Related Workmentioning

confidence: 99%

“…Examples of in-hand manipulation include regulating the friction applied by the gripper on the object to swing it towards a desired angle [6]- [9], or slide it to a new contact point [10], [11]. Other examples exploit the interactions between object and environment to achieve a desired grasp [12]- [14], or to obtain a desired object configuration while in contact [3], [15].…”

Section: Introductionmentioning

confidence: 99%

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Polyhedral Friction Cone Estimator for Object Manipulation

Azad¹,

Cruciani²,

Mathew³

et al. 2020

Preprint

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A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an object's motion and interaction with the environment. It can be derived analytically, upon knowledge of object and environment geometries, contact point locations and friction coefficients. We propose to estimate the polyhedral friction cone so that a priori knowledge of these quantities is no longer required. Additionally, we introduce a solution to transform the estimated friction cone to avoid re-estimation while the object moves. We present an analysis of the estimated polyhedral friction cone and demonstrate its application for manipulating an object in simulation and with a real robot.

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Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

Cited by 31 publications

References 27 publications

Planning for Multi-stage Forceful Manipulation

Planning for Multi-stage Forceful Manipulation

Manipulation with Shared Grasping

Polyhedral Friction Cone Estimator for Object Manipulation

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