Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration Article Swipe
Xianyi Cheng
,
Sarvesh Patil
,
Zeynep Temel
,
Oliver Kroemer
,
Matthew T. Mason
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1109/lra.2023.3333699
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1109/lra.2023.3333699
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This framework explores in-hand and extrinsic dexterity by leveraging contacts. It generates rigid-body motions and complex contact sequences. Our framework is based on Monte-Carlo Tree Search (MCTS) and has three levels: 1) planning object motions and environment contact modes; 2) planning robot contacts; 3) path evaluation and control optimization. This framework offers two main advantages. First, it allows efficient global reasoning over high-dimensional complex space created by contacts. It solves a diverse set of manipulation tasks that require dexterity, both intrinsic (using the fingers) and extrinsic (also using the environment), mostly in seconds. Second, our framework allows the incorporation of expert knowledge and customizable setups in task mechanics and models. It requires minor modifications to accommodate different scenarios and robots. Hence, it provides a flexible and generalizable solution for various manipulation tasks. As examples, we analyze the results on 7 hand configurations and 15 scenarios. We demonstrate 8 tasks on two robot platforms.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/lra.2023.3333699
- https://ieeexplore.ieee.org/ielx7/7083369/7339444/10319720.pdf
- OA Status
- bronze
- Cited By
- 21
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4388739215
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Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4388739215Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/lra.2023.3333699Digital Object Identifier
- Title
-
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact ExplorationWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-11-16Full publication date if available
- Authors
-
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. MasonList of authors in order
- Landing page
-
https://doi.org/10.1109/lra.2023.3333699Publisher landing page
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https://ieeexplore.ieee.org/ielx7/7083369/7339444/10319720.pdfDirect link to full text PDF
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-
YesWhether a free full text is available
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bronzeOpen access status per OpenAlex
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https://ieeexplore.ieee.org/ielx7/7083369/7339444/10319720.pdfDirect OA link when available
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Computer science, Robot, Set (abstract data type), Artificial intelligence, Tree (set theory), Object (grammar), Task (project management), Human–computer interaction, Engineering, Programming language, Mathematics, Mathematical analysis, Systems engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
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21Total citation count in OpenAlex
- Citations by year (recent)
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2025: 15, 2024: 6Per-year citation counts (last 5 years)
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35Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| referenced_works | https://openalex.org/W2101340954, https://openalex.org/W2990747716, https://openalex.org/W2891614462, https://openalex.org/W2098030884, https://openalex.org/W3091613793, https://openalex.org/W3039417898, https://openalex.org/W1990451985, https://openalex.org/W1762028192, https://openalex.org/W3128052349, https://openalex.org/W4376874816, https://openalex.org/W2146431525, https://openalex.org/W2105059122, https://openalex.org/W6910620759, https://openalex.org/W4212804184, https://openalex.org/W3205980937, https://openalex.org/W3196603227, https://openalex.org/W6838930586, https://openalex.org/W4386025948, https://openalex.org/W1674160379, https://openalex.org/W4312264622, https://openalex.org/W6846435682, https://openalex.org/W6852002412, https://openalex.org/W6922480057, https://openalex.org/W4285102312, https://openalex.org/W4389667244, https://openalex.org/W4285796263, https://openalex.org/W1969583232, https://openalex.org/W2997123841, https://openalex.org/W6794153505, https://openalex.org/W2793955514, https://openalex.org/W4312837242, https://openalex.org/W2963446658, https://openalex.org/W2109163007, https://openalex.org/W2603737562, https://openalex.org/W4383066303 |
| referenced_works_count | 35 |
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