Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation

This paper explores the problem of autonomous, in-hand regrasping-the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates between finger gaiting, and in-grasp manipulation. Finger gaiting enables the robot to move a single finger to a new contact location on the object, while the remaining fingers stably hold the object. In-grasp manipulation moves the object to a new pose relative to the robot's palm, while maintaining the contact locations between the hand and object. Given the object's geometry (as a mesh), the hand's kinematic structure, and the initial and desired grasps, we plan a sequence of finger gaits and object reposing actions to reach the desired grasp without dropping the object. We propose an optimization based approach and report in-hand regrasping plans for 5 objects over 5 in-hand regrasp goals each. The plans generated by our planner are collision free and guarantee kinematic feasibility.

[1]  S. Shankar Sastry,et al.  Dynamic regrasping by coordinated control of sliding for a multifingered hand , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[2]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  S. Shankar Sastry,et al.  Dynamic control of sliding by robot hands for regrasping , 1992, IEEE Trans. Robotics Autom..

[4]  Daniela Rus,et al.  Dexterous rotations of polyhedra , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[5]  Toru Omata,et al.  Regrasps by a multifingered hand based on primitives , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[6]  Kenneth Salisbury,et al.  Reorienting Objects with a Robot Hand Using Grasp Gaits , 1996 .

[7]  Martin Buss,et al.  Multi-fingered regrasping using on-line grasping force optimization , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  Kamal K. Gupta,et al.  Planning quasi-static motions for re-configuring objects with a multi-fingered robotic hand , 1997, Proceedings of International Conference on Robotics and Automation.

[9]  Daniela Rus.  Coordinated Manipulation of Objects in a Plane , 1997, Algorithmica.

[10]  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).

[11]  S. Payandeh,et al.  IMPROVED STRATIFIED CONTROL FOR HEXAPOD ROBOTS AND OBJECT MANIPULATION WITH FINGER RELOCATION , 1999 .

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

[13]  Joel W. Burdick,et al.  Stratified motion planning with application to robotic finger gaiting , 1999 .

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

[15]  Kamal K. Gupta,et al.  Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding , 2001, Int. J. Robotics Res..

[16]  S. Payandeh,et al.  On Object Manipulation Methods using Finger Relocation ∗ , 2001 .

[17]  Gino van den Bergen,et al.  Proximity Queries and Penetration Depth Computation on 3d Game Objects , 2022 .

[18]  Michael A. Saunders,et al.  SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization , 2002, SIAM J. Optim..

[19]  Shahram Payandeh,et al.  On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations , 2002, Int. J. Robotics Res..

[20]  Joel W. Burdick,et al.  Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting , 2002, IEEE Trans. Robotics Autom..

[21]  Masatoshi Ishikawa,et al.  Dynamic regrasping using a high-speed multifingered hand and a high-speed vision system , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[22]  Siddhartha S. Srinivasa,et al.  CHOMP: Gradient optimization techniques for efficient motion planning , 2009, 2009 IEEE International Conference on Robotics and Automation.

[23]  Faouzi Ghorbel,et al.  A simple and efficient approach for 3D mesh approximate convex decomposition , 2009, 2009 16th IEEE International Conference on Image Processing (ICIP).

[24]  Dario Izzo,et al.  A Global Optimisation Toolbox for Massively Parallel Engineering Optimisation , 2010, ArXiv.

[25]  Reid G. Simmons,et al.  Voxel-based motion bounding and workspace estimation for robotic manipulators , 2012, 2012 IEEE International Conference on Robotics and Automation.

[26]  Zoran Popovic,et al.  Contact-invariant optimization for hand manipulation , 2012, SCA '12.

[27]  Pieter Abbeel,et al.  Motion planning with sequential convex optimization and convex collision checking , 2014, Int. J. Robotics Res..

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

[29]  Siddhartha S. Srinivasa,et al.  The YCB object and Model set: Towards common benchmarks for manipulation research , 2015, 2015 International Conference on Advanced Robotics (ICAR).

[30]  Danica Kragic,et al.  Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation , 2016, IEEE Transactions on Robotics.

[31]  Tucker Hermans,et al.  Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization , 2017, Robotics: Science and Systems.