Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding

Abstract

We address global motion planning for quasi-static reorientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple humanlike manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (with regard to the palm)—an extended version of the original finger-tracking scheme of Rus. This new version es sentially incorporates frictional rolling and sliding at the fingertips and deals with the related contact kinematics and quasi-static mo tion/force prediction issues. Our contribution is twofold. First, we describe an analysis showing that this extended scheme is suitable for reducing the space of the object motions, thereby making motion planning easier and operating on a search space of low dimension. Our second contribution is a planner that exploits such a search space reduction and applies the extended finger tracking at the core of a multilevel hierarchical framework to search for global reorien tation trajectories. The planner has been implemented and used for achieving several nontrivial frictional reorientation tasks that show the capabilities and the promise of our approach.

Get full access to this article

View all access options for this article.

References

Bicchi, A. 1995. On the closure properties of robotic grasping . IJRR 14(4): 319–334 .

Brock, D. L. 1988. Enhancing the dexterity of a robot hand using controlled slip. IEEE ICRA, Philadelphia, PA , pp. 249–254.

Cherif, M., and Gupta, K. K. 1997a. Planning quasi-static motions for re-configuring objects with a multifingered robotic hand . IEEE ICRA, Albuquerque, NM, April, pp. 986–991 .

Cherif, M., and Gupta, K. K. 1997b. Practical motion planning for dextrous reorientation of polyhedra . IEEE/RSJ IROS, Grenoble, France, September, pp. 291–297 .

Cherif, M., and Gupta, K. K. 1998. Planning for in-hand dextrous manipulation. In Robotics, the Algorithmic Perspective, ed. P. Agarwal, L. Kavraki, and M. Mason, 103–118. Wellesley, MA: A. K. Peters .

Cherif, M., and Gupta, K. K. 1999a. A global planner for inhand dexterous re-configuration of rigid objects . Int. Journal of Advanced Robotics 13(4): 451–471 .

Cherif, M., and Gupta, K. K. 1999b. Planning quasi-static fingertip manipulations for re-configuring objects . IEEE Trans. on Robotics & Automation 15(5): 837–848 .

Chong, N. Y., Choi, D., and Suh, I. H. 1993. A generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts . IEEE/RSJ IROS, Yokohama, Japan, April, pp. 113–120 .

Cole, A. B., Hauser, J. E., and Sastry, S. S. 1989. Kinematics and control of multifingered hands with rolling contact . IEEE Trans. on Automatic Control 34(4): 398–404 .

10.

Cole, A. B., Hsu, P., and Sastry, S. S. 1992. Dynamic control of sliding by robot hands for regrasping . IEEE Trans. on Automatic Control 8(1): 42–52 .

11.

Fearing, R. S. 1984. Simplified grasping and manipulation with dexterous robot hands. Technical Report, A.I. Memo 809, A.I. Lab. MIT, MA.

12.

Fearing, R. S. 1986. Implementing a force strategy for object reorientation . IEEE ICRA, San Francisco, pp. 96–101 .

13.

Gupta, K. K. 1995. Motion planning for reorientation using finger tracking: Landmarks in so(3) × ω . IEEE ICRA, Nagoya, Japan, pp. 446–451 .

14.

Kaneko, M., and Harada, K. 1999. Grasp and manipulation of multiple objects . In Preprints of 9th Int. Symposium on Robotics Research, Salt Lake City, UT.

15.

Leveroni, S., and Salisbury, K. 1995. Re-orienting objects with a robot hand using grasp gaits. In The 7th Int. Symposium on Robotics Research, ed. G. Giralt and G. Hirzinger, 2–15. Munich, Germany: Springer-Verlag .

16.

Li, Z., and Canny, J. 1990. Motion of two rigid bodies with rolling constraint . IEEE Trans. on Robotics & Automation 6(1): 62–72 .

17.

Li, Z., Canny, J., and Sastry, S. S. 1989. On motion planning for dextrous manipulation, part I: The problem formulation . IEEE ICRA, Scottsdale, AZ, pp. 775–780 .

18.

Li, Z., Hsu, P., and Sastry, S. S. 1989. Grasping and coordinated manipulation by a multifingered robot hand . IJRR 8(4): 33–50 .

19.

Markenscoff, X., Ni, L., and Papadimitriou, C. H. 1989. The geometry of grasping . IJRR 9(1): 61–74 .

20.

Mishra, B., Schwartz, J. T., and Sharir, M. 1987. On the existence and synthesis of multi-finger positive grips . Algorithmica 2(4): 541–558 .

21.

Montana, D. J. 1988. The kinematics of contact and grasp . IJRR 7(3): 17–31 .

22.

Murray, R. M., Li, Z., and Sastry, S. S. 1994. A Mathematical Introduction to Robotics Manipulation. Boca Raton, FL: CRC .

23.

Nguyen, V. 1988. Constructing force closure grasps . IJRR 7(3): 3–16 .

24.

Omata, T., and Farooqi, M. A. 1996. Regrasps by a multifingered hand based on primitives . IEEE ICRA, Minneapolis, MN, April, pp. 2774–2780 .

25.

Omata, T., and Nagata, N. 1994. Planning reorientation of an object with a multifingered hand . IEEE ICRA, San Diego, CA, May, pp. 3104–3110 .

26.

Peshkin, M. A., and Sanderson, A. C. 1989. Minimization of energy in quasi-static manipulation . IEEE Trans. on Robotics & Automation 5(1): 53–60 .

27.

Rus, D. 1992. Fine Manipulation Planning for Dextrous Manipulation. Ph.D. thesis, Department of Computer Science, Cornell University, Ithaca, NY.

28.

Rus, D. 1999. In-hand dexterous manipulation of piecewise-smooth 3-D objects . IJRR 18(4): 355–381 .

29.

Salisbury, K. 1982. Kinematics and Force Analysis of Articulated hands. Ph.D. thesis, CS Department, Stanford University, Stanford, CA.

30.

Schwarz, H. R. 1989. Numerical Analysis, A Comprehensive Introduction. New York: John Wiley .

31.

Shimoga, K. B. 1996. Robot grasp synthesis algorithms: A survey . IJRR 15(3): 230–266 .

32.

Sudsang, A., Ponce, J., and Srinivasa, N. 2000. Grasping and in-hand manipulation: Geometry and algorithms . Algorithmica 26(3-4): 466–493 .

33.

Trinkle, J. C. 1989. A quasi-static analysis of dexterous manipulation with sliding and rolling contacts . IEEE ICRA, Scottsdale, AZ, pp. 788–793 .

34.

Trinkle, J. C., Farahat, A. O., and Stiller, P. F. 1995. First-order stability cells of active multi-rigid-body systems . IEEE Trans. on Robotics & Automation 11(4): 545–557 .

35.

Trinkle, J. C., and Hunter, J. J. 1991. A framework for plan-ningdexterousmanipulation . IEEEICRA,Sacramento, CA, May, pp. 1245–1251 .

36.

Trinkle, J. C., and Paul, R. 1990. Planning dextrous manipulation with sliding contacts . IJRR 9(3): 24–48 .

37.

Trinkle, J. C., Yeap, S. L., and Han, L. 1996. When quasistatic jamming is impossible . IEEE ICRA, Minneapolis, MN, April, pp. 3401–3406 .

38.

Trinkle, J. C., and Zeng, D. C. 1995. Prediction of the quasistatic planar motion of a contacted rigid object . IEEE Trans. on Robotics & Automation 11(2): 229–246 .

39.

Tyrtyshnikov, E. E. 1997. A Brief Introduction to Numerical Analysis. Boston: Birkhäuser .