Title :
Planning of graspless manipulation by multiple robot fingers
Author :
Maeda, Yusuke ; Kijimoto, Hirokazu ; Aiyama, Yasumichi ; Arai, Tamio
Author_Institution :
Dept. of Precision Eng., Tokyo Univ., Japan
Abstract :
Graspless manipulation is to manipulate objects without grasping by just pushing, tumbling and so on. One of the main difficulties in graspless manipulation is planning. To reduce the load of computation, we adopt a two-step approach: 1) construction and simplification of contact state graph at geometry level; and 2) planning of manipulation at mechanics levels. In this paper, we focus the latter and propose an algorithm to plan mechanically feasible manipulation. It generates digraphs that represent C-subspaces for all the contact states, and unites them into one big graph, which we call a manipulation-feasibility graph. The manipulation plan can be obtained by searching the graph. This algorithm is implemented for planar graspless manipulation by multiple robot fingers, and the planned results obtained are shown.
Keywords :
force control; graph theory; manipulator dynamics; multi-robot systems; path planning; contact state graph; force control; geometry level; graspless manipulation; manipulation-feasibility graph; mechanics levels; motion planning; multiple robot fingers; Costs; Fingers; Friction; Kinetic theory; Manipulators; Motion planning; Robots; Shortest path problem; Stability; State estimation;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932994