scholarly journals Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping

2021 ◽  
Vol 11 (19) ◽  
pp. 9103
Author(s):  
Ang Zhang ◽  
Keisuke Koyama ◽  
Weiwei Wan ◽  
Kensuke Harada
Keyword(s):  
Object Manipulation ◽  
Robotic Manipulation ◽  
Limited Area ◽  
Object Surface ◽  
Manipulation Planning ◽  
Kinematic Constraints ◽  
Unstable Support ◽  
End Effectors ◽  
Set Of Points ◽  
Dual Arm

Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propose a hierarchical manipulation planner that effectively combined three manipulation styles, namely, pivoting, tumbling, and regrasping. In our proposed method, we first generate a set of superimposed planar segments on the object surface to obtain an object pose in stable contact with the table, and a set of points on the object surface for the end-effectors (EEFs) of a dual-arm manipulator to stably grasp the object. Object manipulation can be realized by solving a graph, considering the kinematic constraints of pivoting and tumbling. For pivoting, we consider two supporting styles: stable support (SP) and unstable support (USP). Our proposed method manipulates large and heavy objects by selectively using the two different support styles of pivoting and tumbling according to the conditions on the table area. In addition, it can effectively avoid the limitation arising due to the arm kinematics by regrasping the object. We experimentally demonstrate that a dual-arm manipulator can move an object from the initial to goal position within a limited area on the table, avoiding obstacles placed on the table.

Virtual-mechanism-based analysis of cooperative manipulation

2005 ◽  
Vol 219 (3) ◽  
pp. 315-323
Author(s):  
H Liu ◽  
J S Dai ◽  
H Y Xu ◽  
H Li
Keyword(s):  
Trajectory Planning ◽  
Manipulation Planning ◽  
End Points ◽  
New Approach ◽  
Cooperative Manipulation ◽  
Hypothetical Mechanism ◽  
End Effectors ◽  
Cooperative Manipulators ◽  
Mechanism Theory

This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

Algorithmic Selection of Preferred Grasp Poses using Manipulability Ellipsoid Forms

2021 ◽  
pp. 1-24
Author(s):  
Rajesh Kumar ◽  
Sudipto Mukherjee
Keyword(s):  
Geodesic Distance ◽  
Object Surface ◽  
Kinematic Constraints ◽  
Rolling Contacts ◽  
Manipulability Measure ◽  
Robotic Grasp ◽  
Selection Of

Abstract An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterise the grasp for multi-fingered robotic handling. The methodology can be used to search for the goal grasp pose with a manipulability ellipsoid close to the desired one. The proposed algorithm is modified to perform rolling based relocation under kinematic constraints of the robotic fingertips. The search for the optimal grasp pose and the improvement of the grasp pose by relocation is based on the reduction of the geodesic distance between the current and the target manipulability matrices. The algorithm also derives paths of the fingertip on the object surface in order to achieve the goal pose. An algorithmic option for the process of searching for a suitable grasp configuration is hence achieved.

A Multi-Priority Control of Asymmetric Coordination for Redundant Dual-Arm Robot

2019 ◽  
Vol 16 (02) ◽  
pp. 1950008
Author(s):  
Fuhai Zhang ◽  
Jiadi Qu ◽  
He Liu ◽  
Yili Fu
Keyword(s):  
Secondary Task ◽  
Control Method ◽  
Null Space ◽  
Main Task ◽  
External Impact ◽  
Dual Arm Robot ◽  
End Effectors ◽  
Dual Arm ◽  
Arm Coordination ◽  
Asymmetric Coordination

The paper develops a multi-priority control method of asymmetric coordination for a redundant dual-arm robot. A novel dual-arm coordination impedance is introduced to the multi-priority control, and then the performance of the object tracking and the redundant joints is improved by the regulation of the relative Cartesian errors between two arms. The control of asymmetric coordination is divided into the main task and the secondary task. The control of the main task can regulate the two end-effectors’ errors and the relative errors by building the model of spatial parallel spring and damping (SPSDM), which establishes the dual-arm coordination impedance relation in Cartesian space. The control of the secondary task optimizes the performance of the redundant joint impedance and joint limit avoidance in null space. Finally, a typical asymmetric coordination experiment of peg-in-hole is carried out to verify the validity and feasibility of the proposed method. The results indicate that the proposed dual-arm coordination impedance can regulate the relative tracking errors between two objects directly, and in the context of the external impact force applied to the two end-effectors, the peg-in-hole dual-arm task can be achieved successfully.

scholarly journals Dual-arm robotic manipulation of flexible cables

2018 ◽  
Author(s):  
Jihong Zhu ◽  
Benjamin Navarro ◽  
Philippe Fraisse ◽  
Andre Crosnier ◽  
Andrea Cherubini
Keyword(s):  
Robotic Manipulation ◽  
Flexible Cables ◽  
Dual Arm

Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm

2020 ◽  
Vol 16 (1) ◽  
pp. 442-453 ◽  
Author(s):  
Weiwei Wan ◽  
Kensuke Harada ◽  
Fumio Kanehiro
Keyword(s):  
Manipulation Planning ◽  
Dual Arm

Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation

2020 ◽  
Vol 17 (02) ◽  
pp. 2050005
Author(s):  
Daniel Sánchez ◽  
Weiwei Wan ◽  
Fumio Kanehiro ◽  
Kensuke Harada
Keyword(s):  
Real World ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Stability Margin ◽  
Object Manipulation ◽  
Upper Body ◽  
Manipulation Planning ◽  
Stability Estimation

This paper presents a balance-centered planner for object re-posing. It uses Center-of-Mass (CoM) constraints to preserve robot stability and provides stable, IK-feasible, and collision-free upper-body poses, allowing the robot to complete dexterous object manipulation tasks with different objects. The technical contributions of the planner are two-fold. First, it evaluates the robot stability margin for each robot pose during manipulation planning to find a stable manipulation motion. Second, it provides an RRT-inspired task-related stability estimation used to compare different bipedal stances. Simulations and real-world experiments are performed with the HRP-5P humanoid robot, the 5th generation of the HRP robot family, to validate the planner and compare different robot stances and approaches for object re-posing. The experiment results suggest that the proposed planner provides robust behavior for the humanoid robot while performing re-posing tasks.

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