A general framework for open-loop pivoting

Pivoting is the rotation of an object between two fingers using gravity and inertial forces to impart angular momentum. We present an analysis of the mechanics of pivoting and a framework for planning and execution. Extrinsic dexterity was defined by Chavan-Dafle et al. [1] as the use of external forces, such as gravity and inertial forces in post grasp manipulation. We analyze one such regrasp termed “pivoting” by Rao et al. [2]. We find a grasp and arm trajectory which can rotate an object between stable poses, if any. We demonstrate an implementation of pivoting with an ABB industrial arm and a two fingered gripper.

[1]  Toru Omata,et al.  Planning reorientation of an object with a multifingered hand , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[2]  Masayuki Inaba,et al.  Pivoting: A new method of graspless manipulation of object by robot fingers , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[3]  Ronald S. Fearing,et al.  Simplified Grasping and Manipulation with Dextrous Robot Hands , 1984, 1984 American Control Conference.

[4]  Michael A. Erdmann,et al.  An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution , 1996 .

[5]  Matthew T. Mason,et al.  An exploration of sensorless manipulation , 1986, IEEE J. Robotics Autom..

[6]  Daniela Rus,et al.  In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects , 1999, Int. J. Robotics Res..

[7]  Peter K. Allen,et al.  Graspit! A versatile simulator for robotic grasping , 2004, IEEE Robotics & Automation Magazine.

[8]  Alberto Rodriguez,et al.  From caging to grasping , 2011, Int. J. Robotics Res..

[9]  Hirochika Inoue,et al.  Tumbling Objects Using a Multi-fingered Robot , 1991 .

[10]  Kamal K. Gupta,et al.  Planning quasi-static fingertip manipulations for reconfiguring objects , 1999, IEEE Trans. Robotics Autom..

[11]  David J. Kriegman,et al.  Complete algorithms for feeding polyhedral parts using pivot grasps , 1996, IEEE Trans. Robotics Autom..

[12]  C. Karen Liu,et al.  Dexterous manipulation using both palm and fingers , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[13]  David J. Reinkensmeyer,et al.  Task-Level Robot Learning: Ball Throwing , 1987 .

[14]  Kenneth Y. Goldberg,et al.  A pivoting gripper for feeding industrial parts , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[15]  Siddhartha S. Srinivasa,et al.  Manipulation planning with caging grasps , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[16]  Christopher G. Atkeson,et al.  Task-level robot learning: juggling a tennis ball more accurately , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[17]  Nils J. Nilsson,et al.  Shakey the Robot , 1984 .

[18]  David L. Brock,et al.  Enhancing the dexterity of a robot hand using controlled slip , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[19]  Martin Buss,et al.  Hybrid closed-loop control of robotic hand regrasping , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[20]  W. Eric L. Grimson,et al.  Handey: A robot system that recognizes, plans, and manipulates , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[21]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.

[22]  Daniel E. Koditschek,et al.  Toward a dynamical pick and place , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[23]  Siddhartha S. Srinivasa,et al.  Extrinsic dexterity: In-hand manipulation with external forces , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[24]  Matthew T. Mason,et al.  Mechanics and Planning of Manipulator Pushing Operations , 1986 .

[25]  Jr. J. Kenneth Salisbury,et al.  Kinematic and force analysis of articulated hands , 1982 .

[26]  Kevin M. Lynch,et al.  Stable Pushing: Mechanics, Controllability, and Planning , 1995, Int. J. Robotics Res..

[27]  Kevin M. Lynch,et al.  Dynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments , 1999, Int. J. Robotics Res..

[28]  Jeffrey C. Trinkle,et al.  Dextrous manipulation by rolling and finger gaiting , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[29]  Matthew Thomas Mason,et al.  Manipulator grasping and pushing operations , 1982 .

[30]  Michael A. Erdmann.  A configuration space friction cone , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[31]  Jerome A. Feldman,et al.  The Stanford Hand-Eye Project , 1969, IJCAI.

[32]  Antonio Bicchi,et al.  Dexterous manipulation through rolling , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[33]  John J. Craig,et al.  Articulated hands: Force control and kinematic issues , 1981 .

[34]  Micha Sharir,et al.  On the existence and synthesis of multifinger positive grips , 2015, Algorithmica.

[35]  Siddhartha S. Srinivasa,et al.  Control Synthesis for Dynamic Contact Manipulation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[36]  Gerardo Lafferriere,et al.  Fine manipulation with multifinger hands , 1990, Proceedings., IEEE International Conference on Robotics and Automation.