Planning 3D regrasp operations with a polyarticulated mechanical hand
نویسنده
چکیده
This paper presents a method to solve the regrasping problem in the context of object manipulation with a mechanical hand. This problem is met during an object manipulation when one finger reaches the boundary of its workspace or when a collision between parts occurs. Our method synthesizes a new feasible grasp when this problem appears by a sequence of grasps involving the fourth free finger. The grasp synthesis problem is formulated as an optimization problem involving many parameters solved by using genetic algorithms. In order to validate this approach, basic manipulation tasks are detailed in simulation. The efficiency of this method is also demonstrated with two examples : a rotation and a translation of an object inside the hand. Key-Words : Manipulation task Mechanical hand Regrasp Genetic Algorithm Path Planning Fingertip
منابع مشابه
Randomized path planning for tasks requiring the release and regrasp of objects
This paper presents a randomized planning algorithm for manipulation tasks that require the robot to release and regrasp an object in different robot postures. Such problems arise, for example, in robotic suturing and knot tying, and in assembly tasks where parts must be guided through complex environments. Formulating the problem as one of planning on a foliated manifold, we present a randomiz...
متن کاملStable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a samp...
متن کاملRegrasp planning for a 5-fingered hand manipulating a polyhedron
This paper addresses the problem of a 5fingered hand manipulating a polyhedron. In particular, assuming frictional point contacts, we present an approach for computing a sequence of finger repositioning that allows the hand to switch from one grasping configuration to another while maintaining a force-closure grasp of the polyhedron during the entire process. The proposed approach captures abil...
متن کاملPlanning setpoints for contact force transitions in regrasp tasks of 3D objects
This paper presents a simple and fast solution to the problem of finding the time variation of n contact forces that keep an object under equilibrium while one of the n contact forces is removed/added from/to the grasp. The object is under a constant perturbation force, like for instance its own weight. It is assumed no acceleration of the object during the regrasp operation, as well as the kno...
متن کاملRegrasp planning for a 4-fingered hand manipulating a polygon
This paper proposes an approach for computing a sequence of finger repositioning that allows a 4fingered hand to switch from one grasping configuration to another while maintaining a force-closure grasp of a polygon during the entire process. Assuming frictional point contacts, the proposed approach is based on exploring a structure called switching graph. The connectivity of this structure cap...
متن کامل