Contact-State Transition Graph for Graspless Manipulation Planning.
نویسندگان
چکیده
منابع مشابه
Planning of Graspless Manipulation by Multiple Robot Fingers
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. It is very time-consuming to plan a general graspless manipulation problem, because it requires complicated mechanical analysis including friction. To reduce the load of computation, we adopt a two-step approach: 1) constructi...
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Graspless (or nonprehensile) manipulation is a method to manipulate objects without grasping. It includes pushing, tumbling and pivoting. Graspless manipulation is important as a complement of conventional pick-and-place for the dexterity of robots. In this paper, we propose a method of planning of general graspless manipulation by multifingered robot hands; the method can automatically generat...
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To achieve various manipulation tasks by robot fingers, we have to use both position control and force control appropriately. In this paper, we propose a method to determine such control modes of robot fingers in graspless manipulation. Using the method, we can assign a positionor force-control mode to each robot finger so that the maximum manipulation stability will be achieved without excessi...
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Planning for multirobot manipulation in dense clutter becomes particularly challenging as the motion of the manipulated object causes the connectivity of the robots’ free space to change. This paper introduces a data structure, the Feasible Transition Graph (FTG), and algorithms that solve such complex motion planning problems. We define an equivalence relation over object configurations based ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1999
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.65.3239