Pushing using compliance
D. Nieuwenhuisen,A.F. van der Stappen,Mark H. Overmars +2 more
- pp 2010-2016
TLDR
This paper presents an approach based on the rapidly-exploring random tree (RRT) algorithm that, besides paths through the open space, exploits the power of compliance.Abstract:
This paper addresses the problem of maneuvering an object by pushing it through an environment with obstacles. Instead of only pushing the object through open spaces, we also allow it to use compliance, e.g. allowing it to slide along obstacle boundaries. The advantage of using compliance is twofold: compliance does not only extend the number of situations in which a push plan can be found, it also allows for simpler (i.e. less complicated) paths in many cases. Here, we present an approach based on the rapidly-exploring random tree (RRT) algorithm that, besides paths through the open space, exploits the power of complianceread more
Citations
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Journal ArticleDOI
Push-manipulation of complex passive mobile objects using experimentally acquired motion models
TL;DR: This work presents an experience-based push-manipulation approach that enables the robot to acquire experimental models regarding how pushable real world objects with complex 3D structures move in response to various pushing actions and demonstrates the superiority of the achievable planning and execution concept through safe and successful push- manipulation of a variety of passively mobile pushable objects.
Proceedings ArticleDOI
Automatic learning of pushing strategy for delivery of irregular-shaped objects
TL;DR: A learning-based approach for pushing objects of any irregular shape to user-specified goal locations by automatically collecting a set of data on how an irregular-shaped object moves given the robot's relative position and pushing direction.
Journal Article
Integer programming, lattices, and results in fixed dimension
TL;DR: In this article, various lattice basis reduction algorithms are used as auxiliary algorithms when solving integer feasibility and optimization problems, and three algorithms are described: binary search, a linear algorithm for a fixed number of constraints, and a randomized algorithm for different numbers of constraints.
Proceedings ArticleDOI
Achievable push-manipulation for complex passive mobile objects using past experience
TL;DR: The RRT algorithm is modified in such a way to use the recalled robot and object trajectories as building blocks to generate achievable and collision-free push plans that reliably transport the object to a desired 3 DoF pose.
Book ChapterDOI
Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty
TL;DR: In this paper, a sampling-based motion planner is proposed for planning motion for robots with actuation uncertainty that incorporates contact with the environment and the compliance of the robot to reliably perform manipulation tasks.
References
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Book
Automatic synthesis of fine-motion strategies for robots
TL;DR: In this article, a formal approach to the synthesis of compliant motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control is presented, where correctness criteria for compliant motion strategy are provided.
Journal ArticleDOI
Automatic Synthesis of Fine-Motion Strategies for Robots
TL;DR: A formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control is described.
Journal ArticleDOI
Mechanics and planning of manipulator pushing operations
TL;DR: In this article, a theoretical exploration of the mechanics of pushing is presented and applied to the analysis and synthesis of robotic manipulator operations, and the results show that pushing is an essential component of many manipulator operations.
Proceedings Article
OBPRM: an obstacle-based PRM for 3D workspaces
TL;DR: This paper presents a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms), which use randomization to construct a graph of representative paths in C-space whose vertices correspond to collision-free con gurations of the robot.
Book
Mechanics of Robotic Manipulation
TL;DR: Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved---grasping, carrying, pushing, dropping, throwing, and so on.