Manipulation with Shared Grasping Article Swipe
Yifan Hou
,
Zhenzhong Jia
,
Matthew T. Mason
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2006.02996
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2006.02996
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and enables manipulation even when a full grasp is not possible. Previous research has used shared grasps for non-prehensile manipulation such as pivoting and tumbling. This paper treats the problem more generally, with methods to select the best shared grasp and robot actions for a desired object motion. The central issue is to evaluate the feasible contact modes: for each contact, whether that contact will remain active, and whether slip will occur. Robustness is important. When a contact mode fails, e.g., when a contact is lost, or when unintentional slip occurs, the operation will fail, and in some cases damage may occur. In this work, we enumerate all feasible contact modes, calculate corresponding controls, and select the most robust candidate. We can also optimize the contact geometry for robustness. This paper employs quasi-static analysis of planar rigid bodies with Coulomb friction to derive the algorithms and controls. Finally, we demonstrate the robustness of shared grasping and the use of our methods in representative experiments and examples. The video can be found at https://youtu.be/tyNhJvRYZNk
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Concepts
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2006.02996
- https://arxiv.org/pdf/2006.02996
- OA Status
- green
- Cited By
- 2
- References
- 41
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3033179116
All OpenAlex metadata
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- OpenAlex ID
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https://openalex.org/W3033179116Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2006.02996Digital Object Identifier
- Title
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Manipulation with Shared GraspingWork title
- Type
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preprintOpenAlex work type
- Language
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enPrimary language
- Publication year
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2020Year of publication
- Publication date
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2020-06-04Full publication date if available
- Authors
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Yifan Hou, Zhenzhong Jia, Matthew T. MasonList of authors in order
- Landing page
-
https://arxiv.org/abs/2006.02996Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2006.02996Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
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https://arxiv.org/pdf/2006.02996Direct OA link when available
- Concepts
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GRASP, Robustness (evolution), Robot, Computer science, Slip (aerodynamics), Planar, Coulomb, Human–computer interaction, Simulation, Artificial intelligence, Engineering, Physics, Computer graphics (images), Programming language, Chemistry, Aerospace engineering, Gene, Biochemistry, Electron, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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2Total citation count in OpenAlex
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2021: 1, 2020: 1Per-year citation counts (last 5 years)
- References (count)
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41Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.all | 145 |
| abstract_inverted_index.and | 13, 18, 38, 61, 78, 105, 133, 152, 183, 193, 202 |
| abstract_inverted_index.can | 159, 206 |
| abstract_inverted_index.for | 26, 55, 81, 96, 165 |
| abstract_inverted_index.has | 51 |
| abstract_inverted_index.may | 138 |
| abstract_inverted_index.not | 47 |
| abstract_inverted_index.off | 23 |
| abstract_inverted_index.our | 197 |
| abstract_inverted_index.the | 10, 15, 19, 36, 66, 74, 92, 129, 154, 162, 181, 188, 194 |
| abstract_inverted_index.use | 195 |
| abstract_inverted_index.This | 63, 167 |
| abstract_inverted_index.When | 113 |
| abstract_inverted_index.also | 160 |
| abstract_inverted_index.best | 75 |
| abstract_inverted_index.both | 14 |
| abstract_inverted_index.each | 97 |
| abstract_inverted_index.even | 41 |
| abstract_inverted_index.full | 44 |
| abstract_inverted_index.hand | 17, 24 |
| abstract_inverted_index.mode | 116 |
| abstract_inverted_index.more | 68 |
| abstract_inverted_index.most | 155 |
| abstract_inverted_index.slip | 107, 127 |
| abstract_inverted_index.some | 135 |
| abstract_inverted_index.such | 58 |
| abstract_inverted_index.that | 100 |
| abstract_inverted_index.this | 141 |
| abstract_inverted_index.used | 52 |
| abstract_inverted_index.when | 42, 119, 125 |
| abstract_inverted_index.will | 102, 108, 131 |
| abstract_inverted_index.with | 35, 70, 176 |
| abstract_inverted_index.cases | 136 |
| abstract_inverted_index.e.g., | 118 |
| abstract_inverted_index.fail, | 132 |
| abstract_inverted_index.fewer | 33 |
| abstract_inverted_index.found | 208 |
| abstract_inverted_index.grasp | 2, 5, 31, 45, 77 |
| abstract_inverted_index.hand, | 37 |
| abstract_inverted_index.issue | 88 |
| abstract_inverted_index.lost, | 123 |
| abstract_inverted_index.paper | 64, 168 |
| abstract_inverted_index.rigid | 174 |
| abstract_inverted_index.robot | 16, 79 |
| abstract_inverted_index.video | 205 |
| abstract_inverted_index.work, | 142 |
| abstract_inverted_index.bodies | 175 |
| abstract_inverted_index.damage | 137 |
| abstract_inverted_index.derive | 180 |
| abstract_inverted_index.fails, | 117 |
| abstract_inverted_index.formed | 6 |
| abstract_inverted_index.grasps | 54 |
| abstract_inverted_index.modes, | 148 |
| abstract_inverted_index.modes: | 95 |
| abstract_inverted_index.object | 12, 84 |
| abstract_inverted_index.occur. | 109, 139 |
| abstract_inverted_index.planar | 173 |
| abstract_inverted_index.remain | 103 |
| abstract_inverted_index.robust | 156 |
| abstract_inverted_index.select | 73, 153 |
| abstract_inverted_index.shared | 1, 30, 53, 76, 191 |
| abstract_inverted_index.treats | 65 |
| abstract_inverted_index.Coulomb | 177 |
| abstract_inverted_index.actions | 80 |
| abstract_inverted_index.active, | 104 |
| abstract_inverted_index.between | 9 |
| abstract_inverted_index.central | 87 |
| abstract_inverted_index.contact | 94, 101, 115, 121, 147, 163 |
| abstract_inverted_index.desired | 83 |
| abstract_inverted_index.employs | 169 |
| abstract_inverted_index.enables | 39 |
| abstract_inverted_index.methods | 71, 198 |
| abstract_inverted_index.motion. | 85 |
| abstract_inverted_index.occurs, | 128 |
| abstract_inverted_index.problem | 67 |
| abstract_inverted_index.trading | 22 |
| abstract_inverted_index.whether | 99, 106 |
| abstract_inverted_index.Finally, | 185 |
| abstract_inverted_index.Previous | 49 |
| abstract_inverted_index.analysis | 171 |
| abstract_inverted_index.contact, | 98 |
| abstract_inverted_index.contacts | 8, 25, 34 |
| abstract_inverted_index.evaluate | 91 |
| abstract_inverted_index.feasible | 93, 146 |
| abstract_inverted_index.friction | 178 |
| abstract_inverted_index.geometry | 164 |
| abstract_inverted_index.grasping | 192 |
| abstract_inverted_index.optimize | 161 |
| abstract_inverted_index.pivoting | 60 |
| abstract_inverted_index.requires | 32 |
| abstract_inverted_index.research | 50 |
| abstract_inverted_index.calculate | 149 |
| abstract_inverted_index.contacts, | 28 |
| abstract_inverted_index.controls, | 151 |
| abstract_inverted_index.controls. | 184 |
| abstract_inverted_index.enumerate | 144 |
| abstract_inverted_index.examples. | 203 |
| abstract_inverted_index.operation | 130 |
| abstract_inverted_index.possible. | 48 |
| abstract_inverted_index.tumbling. | 62 |
| abstract_inverted_index.Robustness | 110 |
| abstract_inverted_index.algorithms | 182 |
| abstract_inverted_index.candidate. | 157 |
| abstract_inverted_index.generally, | 69 |
| abstract_inverted_index.important. | 112 |
| abstract_inverted_index.robustness | 189 |
| abstract_inverted_index.demonstrate | 187 |
| abstract_inverted_index.experiments | 201 |
| abstract_inverted_index.manipulated | 11 |
| abstract_inverted_index.robustness. | 166 |
| abstract_inverted_index.environment. | 20 |
| abstract_inverted_index.manipulation | 40, 57 |
| abstract_inverted_index.quasi-static | 170 |
| abstract_inverted_index.corresponding | 150 |
| abstract_inverted_index.environmental | 27 |
| abstract_inverted_index.unintentional | 126 |
| abstract_inverted_index.non-prehensile | 56 |
| abstract_inverted_index.representative | 200 |
| abstract_inverted_index.https://youtu.be/tyNhJvRYZNk | 210 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/15 |
| sustainable_development_goals[0].score | 0.6800000071525574 |
| sustainable_development_goals[0].display_name | Life in Land |
| citation_normalized_percentile |