Object Manipulation Using Unlimited Rolling Contacts: 2-D Kinematic Modeling and Motion Planning

In a wheeled-tip manipulation system, the wheels at the tip of robot fingers grasp objects and manipulate them by rolling over their boundaries. In this paper, we introduce a 2-D kinematic modeling for wheeled-tip manipulation systems in order to handle rolling over objects' corners in the manipulation. The modeling facilitates motion planning through projecting grasp stability conditions into configuration space, which unifies the planning of the grasp stability and obstacle avoidance. It is done through defining a static force closure map independent of the obstacles and the robot mechanism. This results in a straightforward planning in PRM framework. The simulation and experimental results support the approach.

[1]  S. Shankar Sastry,et al.  Kinematics and control of multifingered hands with rolling contact , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[2]  Tsuneo Yoshikawa,et al.  Passive and active closures by constraining mechanisms , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[3]  Masatoshi Ishikawa,et al.  High Speed Dexterous Manipulation with High Speed Vision , 2009 .

[4]  Yunhui Liu Computing n-Finger Form-Closure Grasps on Polygonal Objects , 2000, Int. J. Robotics Res..

[5]  Jean Lévine,et al.  On Motion Planning for Robotic Manipulation with Permanent Rolling Contacts , 2002, Int. J. Robotics Res..

[6]  Ying Li,et al.  An analytical grasp planning on given object with multifingered hand , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Máximo A. Roa,et al.  Grasp space generation using sampling and computation of independent regions , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Majid Nili Ahmadabadi,et al.  Wheel-Based Climbing Robot: Modeling and Control , 2010, Adv. Robotics.

[9]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[10]  Juan Cortés,et al.  Motion Planning Algorithms for General Closed-Chain Mechanisms , 2003 .

[11]  Majid Nili Ahmadabadi,et al.  Wheeled-tip object manipulation: Modeling and motion planning of throwing an object , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[12]  David J. Montana,et al.  The Kinematics of Contact and Grasp , 1988, Int. J. Robotics Res..

[13]  Jian S. Dai,et al.  A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects With Point Contact , 2010, IEEE Transactions on Robotics.

[14]  Jan Rosell,et al.  Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures , 2011, Auton. Robots.

[15]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[16]  Motoji Yamamoto,et al.  Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints , 2012, 2012 IEEE International Conference on Robotics and Automation.

[17]  Joel W. Burdick,et al.  A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[18]  Raúl Suárez,et al.  Fast and Flexible Determination of Force-Closure Independent Regions to Grasp Polygonal Objects , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[19]  丸山 徹 Convex Analysisの二,三の進展について , 1977 .

[20]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[21]  Joel W. Burdick,et al.  Finding antipodal point grasps on irregularly shaped objects , 1992, IEEE Trans. Robotics Autom..

[22]  Majid Nili Ahmadabadi,et al.  Manipulation of polygonal objects with two wheeled-tip fingers: Planning in the presence of contact position error , 2011, Robotics Auton. Syst..

[23]  Kazuyuki Nagata Manipulation by a parallel-jaw gripper having a turntable at each fingertip , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.