Regrasp Planning for Polygonal and Polyhedral Objects
Thanathorn Phoka
Advisor : Dr. Attawith Sudsang
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Proposal in Brief
Algorithm for Planning Regrasp
Sequences
Geometry
Initial Grasp
Final Grasp
Solution Set of Regrasp
Sequences
8
Motivation
Hand Control (Kinematics and Dynamics)
Manipulation Stack
Solution Set of Regrasp
Sequences
Manipulation Task Planning
Regrasp Planning
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Things to Consider
Solution Set of Regrasp
Sequences
How to get good grasps
How to change from one grasp to the next
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Equilibrium
How to Get Good Grasps
• What is a good grasp?
Force Closure
11f = 0 & m = 0
Grasp which can resist any external disturbance
Force Closure
• Wrench– Force
• Force vector ( f )
– Torque• Torque vector ( r x f )
– Concatenation of force and torque• Wrench vector ( f, r x f )
rn
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Force Closure
• B. Mishra, J.T. Schwartz, and M. Sharir. On the existence and synthesis of multifinger positive grips, 1987.– Convex hull of wrenches contains the origin.
fx
fy
m
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Force Closure
• Yun-Hui Liu. Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming, 1999.
• X. Zhu and J. Wang. Synthesis of force-closure grasps on 3-d objects based on the Q distance, 2003.
• X. Zhu, H. Ding, and S. K. Tso. A pseudodistance function and its applications, 2004.
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Things to Consider
Solution Set of Regrasp
Sequences
How to get good grasps
How to change from one grasp to the next
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How to Change from One Grasp to the Next
Finger switchingFinger gaitingFinger slidingFinger rolling 16
Kinematics and Dynamics
• Rolling contact– N. Sarkar, X. Yun and Vijay Kumar. Dynamic control of 3-d rolling conta
cts in two-arm manipulation, 1997.– Jianfeng Li, Yuru Zhang, and Qixian Zhang. Kinematic algorithm of
multifingered manipulation with rolling contact, 2000.– S. Arimoto, M. Yoshida and J.-H. Bae. Dynamic force/torque closure for
2D and 3D objects by means of rolling contacts with robot fingers, 2003.
• Sliding contact– D. L. Brock. Enhancing the dexterity of robot hands using controlled slip,
1988.– Arlene A. Cole, Ping Hsu, and Shankar Sastry. Dynamic control of slidin
g by robot hands for regrasping, 1992.– Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa. On dynamic c
ontrol of finger sliding and object motion in manipulation with multifingered hands, 2000.
– S. Ueki, H. Kawasaki, and T. Mouri. Adaptive Coordinated Control of Multi-Fingered Hands with Sliding Contact, 2006.
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Dexterous Manipulation & Regrasping Review
Grasping
Kinematics
Dynamics
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
Hong et. al. ‘90
Grasping
Kinematics
Dynamics
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
Han & Trinkle ‘98
Grasping
Dynamics
Kinematics
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
Cherif and Gupta ‘97
Grasping
Kinematics
Dynamics
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
Omata and Nagata ‘94
Grasping
Kinematics
Dynamics
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
R. Platt Jr., A.H. Fagg and R.A. Grupen ‘04
Grasping
Kinematics
Dynamics
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Dexterous Manipulation & Regrasping Review
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
Xu Jijie and Li Zexiang Li ‘05
Grasping
Kinematics
Dynamics
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Our Proposed Regrasp Planning Problem
Grasping
Kinematics
Dynamics
1 solution
strict solutions
Sliding
Constraints Operations SolutionsObject
Polygon
Curve
Contact points
Polyhedron
set of general solutions
existence
Rolling
Gaiting
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Problem configuration
• Regrasp planning• Object model
– Polygon (2D)– Polyhedron (3D)– Contact point (assumed to be given from
approximated 3D triangular mesh)
• Finger– Free-flying finger– 4 fingers (2D)– 5 fingers (3D)
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Complete works
• Study works in grasping and regrasping.
• Proposed the switching graph as a frame work for regrasp planning.
• Apply simplified force closure conditions for polygon and polyhedron in algorithms constructing switching graphs.
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Complete works• A. Sudsang and T. Phoka. Regrasp planning for a 4-fingered hand manipulating a pol
ygon. IEEE Int. Conf. on Robotics and Automation, 2003.
• T. Phoka and A. Sudsang. Regrasp planning for a 5-fingered hand manipulating a polyhedron. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003.
• A. Sudsang and T. Phoka. Geometric Reformulation of 3-Fingered Force-Closure Condition. IEEE Int. Conf. on Robotics and Automation, 2005.
• T. Phoka, P. Pipattanasomporn, N. Niparnan and A. Sudsang. Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object. IEEE Int. Conf. on Robotics and Automation, 2005.
• T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects by Genetic Algorithm. IEEE Int. Conf. on Robotics, Automation and Mechatronics, 2006.
• T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects. IEEE Int. Conf. on Robotics and Biomimetics, China, 2006.
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Ongoing works
• Consider necessary and sufficient conditions for force closure grasp.
• Design a switching graph and an algorithm to cope with a set of contact points.
• Publish a journal article.
• Prepare and engage in a thesis defense.
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Scope of the Research
• Consider regrasp planning problem for polygon, polyhedron and discrete point set.
• Propose a framework (switching graph) for regrasp planning in both 2D and 3D.
• Develop efficient algorithms for solving regrasp planning based on the proposed framework.
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• We gain a framework and efficient algorithms working on regrasp planning problem in 2D and 3D workspace where the inputs are polygon, polyhedron or discrete point set.
Expected Contribution
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