Manipulation planning with caging grasps

We present a novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators. Previous work on constrained manipulation transfers rigid constraints imposed by the target object motion directly into the robot configuration space. This often unnecessarily restricts the allowable robot motion, which can prevent the robot from performing even simple tasks, particularly if the robot has limited reachability or low number of joints. Our method computes ldquocaging graspsrdquo specific to the object and uses efficient search algorithms to produce motion plans that satisfy the task constraints. The major advantages of our technique significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object. We illustrate our approach with experimental results and examples running on two robot platforms.

[1]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[2]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[3]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[4]  Andrew Blake,et al.  Caging 2D bodies by 1-parameter two-fingered gripping systems , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[5]  A. Blake,et al.  1-Parameter Two-Fingered Gripping Systems , 1996 .

[6]  Narayan Srinivasa,et al.  Algorithms for Constructing Immobilizing Fixtures and Grasps of Three-Dimensional Objects , 1997 .

[7]  Andrew Blake,et al.  Caging Planar Bodies by One-Parameter Two-Fingered Gripping Systems , 1999, Int. J. Robotics Res..

[8]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[9]  Vijay R. Kumar,et al.  Decentralized Algorithms for Multirobot Manipulation via Caging , 2002, WAFR.

[10]  Angel P. del Pobil,et al.  A Control Architecture for Compliant Execution of Manipulation Tasks , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  James J. Kuffner,et al.  Randomized statistical path planning , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Satoshi Kagami,et al.  Learning object models for whole body manipulation , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[13]  Joris De Schutter,et al.  Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty , 2007, Int. J. Robotics Res..

[14]  Dmitry Berenson,et al.  Grasp planning in complex scenes , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[15]  Satoshi Kagami,et al.  Learning Object Models for Humanoid Manipulation , 2007 .

[16]  Sukhan Lee,et al.  VIsion force control in task-oriented grasping and manipulation , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  A. Frank van der Stappen,et al.  Geometric Properties and Computation of Three-Finger Caging Grasps of Convex Polygons , 2007, 2007 IEEE International Conference on Automation Science and Engineering.

[18]  Victor Ng-Thow-Hing,et al.  Expanding task functionality in established humanoid robots , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[19]  Advait Jain,et al.  Behaviors for Robust Door Opening and Doorway Traversal with a Force-Sensing Mobile Manipulator , 2008 .