Manipulation planning under changing external forces
- PDF / 10,962,702 Bytes
- 21 Pages / 595.276 x 790.866 pts Page_size
- 84 Downloads / 195 Views
Manipulation planning under changing external forces Lipeng Chen1
· Luis F. C. Figueredo1 · Mehmet R. Dogar1
Received: 2 October 2019 / Accepted: 22 June 2020 © Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract This paper presents a planner that enables robots to manipulate objects under changing external forces. Particularly, we focus on the scenario where a human applies a sequence of forceful operations, e.g. cutting and drilling, on an object that is held by a robot. The planner produces an efficient manipulation plan by choosing stable grasps on the object, by intelligently deciding when the robot should change its grasp on the object as the external forces change, and by choosing subsequent grasps such that they minimize the number of regrasps required in the long-term. Furthermore, as it switches from one grasp to the other, the planner solves the bimanual regrasping in the air by using an alternating sequence of bimanual and unimanual grasps. We also present a conic formulation to address force uncertainties inherent in human-applied external forces, using which the planner can robustly assess the stability of a grasp configuration without sacrificing planning efficiency. We provide a planner implementation on a dual-arm robot and present a variety of simulated and real human-robot experiments to show the performance of our planner. Keywords Manipulation planning · Forceful human-robot collaboration · Task-oriented grasping
1 Introduction Most manipulation planning focuses on dealing with geometric constraints. In this work, we are interested in the scenario where a robot manipulates an object not only under geometric constraints, but also under the application of changing external forces. Take the cutting task in Fig. 1, where a human is cutting a circular piece off from a rectangular board with the assistance of a robot system (Fig. 1a). Before the task, the This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie SklodowskaCurie Grants Agreement No. 746143 and 795714, and from the UK Engineering and Physical Sciences Research Council under Grant EP/P019560/1. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s10514-020-09930-z) contains supplementary material, which is available to authorized users.
B
Lipeng Chen [email protected] Luis F. C. Figueredo [email protected] Mehmet R. Dogar [email protected]
1
human indicates the operation type (cutting) and the desired cutting pattern (a circle) using a graphical interface (Fig. 1aLeft). During the cutting task, the human applies external forces on the board which change position, direction, and even magnitude along the circular path. To assist the human to perform the task, the robot changes its grasp on the object multiple times (Fig. 1a–e) to position the object at expected pose(s) and keep it stable against the changing cutting forces. In this paper, we propose a planner that enables the robot to manipula
Data Loading...
