In-hand manipulation using gravity and controlled slip
E B Francisco Vina,Yiannis Karayiannidis,Karl Pauwels,Christian Smith,Danica Kragic +4 more
- pp 5636-5641
TLDR
This work proposes a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool.Abstract:
In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.read more
Citations
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Journal ArticleDOI
Dynamic In-Hand Sliding Manipulation
TL;DR: A limited surface model of the contact pressure distribution at each finger to predict the sliding directions is proposed and is applied to the problem of regrasping a laminar object held in a pinch grasp.
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Reinforcement Learning for Pivoting Task
TL;DR: This work proposes an approach to learn a robust policy for solving the pivoting task and shows that several model-free continuous control algorithms were shown to learn successful policies with this approach.
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Adaptive control for pivoting with visual and tactile feedback
TL;DR: This work presents an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot's hand by means of gravity.
Journal ArticleDOI
Variable-Friction Finger Surfaces to Enable Within-Hand Manipulation via Gripping and Sliding
TL;DR: This letter presents a simple mechanical analogy to the human finger pad, via a robotic finger with both high- and low-friction surfaces, and demonstrates how within-hand rolling and sliding of an object may be achieved without the need for tactile sensing, high-dexterity, dynamic finger/object modeling, or complex control methods.
Proceedings ArticleDOI
Dynamic in-hand sliding manipulation
TL;DR: This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion based on a soft-finger limit surface contact model at each fingertip.
References
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