A library for dynamic regrasping methods

Avishai Sintov, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this work we present a library of methods to perform dynamic regrasping to alternate grasp configurations of an object with respect to the task to be done. In these methods, we utilize the dynamics of the arm and therefore can use a simple non-dexterous gripper, enabling fast manipulations and low costs. We investigated two regrasping methods. One is an in-hand orienting approach where the gripper changes its orientation relative to a falling object. We have developed a novel stochastic motion planning algorithm that can be used for the in-hand regrasping manipulation under kinematic and dynamic constraints. The second is termed swing-up regrasping where an object is manipulated using a robotic arm around a point pinched by the arms gripper. The pivot point is modeled as a semi-active joint where only dissipative torques can be exerted and can only resist the motion of the object. We utilize an impulse-momentum approach to swing up the object and then a Clipped Linear Quadratic Regulator (cLQR) controller to stabilize the object in its desired angle. We also introduce the use of energy control for swinging-up the object.

Original languageEnglish
Title of host publication2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages716-718
Number of pages3
ISBN (Electronic)9781509008216
DOIs
StatePublished - 21 Oct 2016
Event13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China
Duration: 19 Aug 201622 Aug 2016

Publication series

Name2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/TerritoryChina
CityXian
Period19/08/1622/08/16

Keywords

  • Dynamic regrasping
  • In-hand
  • Robotic manipulations
  • Swing-up

ASJC Scopus subject areas

  • Modeling and Simulation
  • Artificial Intelligence
  • Control and Optimization

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