Explanipedia

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration Open

Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason · 2023

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 fr…

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration Open

Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason · 2023

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 fr…

Reacting to Contact: Transparency and Collision Reflex in Actuation Open

Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson · 2022

In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by structural properties as well as sensing a…

Contact Mode Guided Motion Planning for Dexterous Manipulation. Open

Xianyi Cheng, Eric Huang, Yifan Hou, Matthew T. Mason · 2021

Within the field of robotic manipulation, a central goal is to replicate the human ability to manipulate any object in any situation using a sequence of manipulation primitives such as grasping, pushing, inserting, sliding, etc. Conceptual…

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D Open

Xianyi Cheng, Eric Huang, Yifan Hou, Matthew T. Mason · 2021

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous sta…

An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control Open

Yifan Hou, Matthew T. Mason · 2020

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact con…

Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D Open

Xianyi Cheng, Eric Huang, Yifan Hou, Matthew T. Mason · 2020

The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such mo…

Manipulation with Shared Grasping Open

Yifan Hou, Zhenzhong Jia, Matthew T. Mason · 2020

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 enab…

Manipulation with Shared Grasping Open

Yifan Hou, Zhenzhong Jia, Matthew T. Mason · 2020

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 ena…

Reorienting Objects in 3D Space Using Pivoting Open

Yifan Hou, Zhenzhong Jia, Matthew T. Mason · 2019

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus …

Direct Drive Hands: Force-Motion Transparency in Gripper Design Open

Ankit Bhatia, Aaron M. Johnson, Matthew T. Mason · 2019

The Direct Drive Hand (DDHand) project is exploring an alternative design philosophy for grippers.The conventional approach is to prioritize clamping force, leading to high gear ratios, slow motion, and poor transmission of force/motion si…

Toward Robotic Manipulation Open

Matthew T. Mason · 2018

This article surveys manipulation, including both biological and robotic manipulation. Biology inspires robotics and demonstrates aspects of manipulation that are far in the future of robotics. Robotics develops concepts and principles tha…

The complexities of grasping in the wild Open

Yuzuko C. Nakamura, Daniel M. Troniak, Alberto Rodríguez, Matthew T. Mason, Nancy S. Pollard · 2018

The recent ubiquity of high-framerate (120 fps and higher) handheld cameras creates the opportunity to study human grasping at a greater level of detail than normal speed cameras allow. We first collected 91 slow-motion interactions with o…

Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems Open

Gilwoo Lee, Zita Marinho, Aaron M. Johnson, Geoffrey J. Gordon, Siddhartha S Srinivasa , et al. · 2017

This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track challenging problems with diverse dynamics and low dimensio…

Exact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling Open

Eric Huang, Ankit Bhatia, Byron Boots, Matthew T. Mason · 2017

This paper explores the quasi-static motion of a planar slider being pushed or pulled through a single contact point assumed not to slip.The main contribution is to derive a method for computing exact bounds on the object's motion for clas…

A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation Open

Jiaji Zhou, J. Andrew Bagnell, Matthew T. Mason · 2017

A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation Open

Jiaji Zhou, J. Andrew Bagnell, Matthew T. Mason · 2017

Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled manipulato…

GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems Open

Gilwoo Lee, Siddhartha S Srinivasa, Matthew T. Mason · 2017

As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap, which comes from nonlinear model bias and susceptibility …

GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear\n Dynamical Systems Open

Gilwoo Lee, Siddhartha S Srinivasa, Matthew T. Mason · 2017

As we aim to control complex systems, use of a simulator in model-based\nreinforcement learning is becoming more common. However, it has been\nchallenging to overcome the Reality Gap, which comes from nonlinear model bias\nand susceptibili…

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application Open

Jiaji Zhou, Robert Paolini, J. Andrew Bagnell, Matthew T. Mason · 2016

We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is conf…

Radical adaptation in agriculture: tackling the roots of climate vulnerability Open

S. Vermeulen, Matthew T. Mason, Dhanush Dinesh, B. Adolph · 2015

As climate change pushes livestock, crop and tree production systems towards new realities, societies may seek more comprehensive solutions. Examples of truly radical adaptation — pre-emptive actions at scale that address the root causes o…

A novel nonlinear compliant link on simple grippers Open

Zhiwei Zhang, Alberto Rodríguez, Matthew T. Mason · 2015

This paper presents a novel nonlinear compliant link. It has two major properties: bi-directionality and stiffening compliance. Bi-directionality means it can be stretched and compressed, and is realized by antagonistic arrangement of an e…

A two-phase gripper to reorient and grasp Open

Nikhil Chavan-Dafle, Matthew T. Mason, Harald Staab, Gregory Rossano, Alberto Rodríguez · 2015

This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint co…

Workshop Report: International Workshop of the Knowledge Action Group of the Global Alliance for Climate-Smart Agriculture Open

Federica Matteoli, Matthew T. Mason, Dhanush Dinesh · 2015

This report summarizes the proceedings of the “International Workshop of the Knowledge Action Group,” held in Montpellier, March 15th, 2015, organized by CCAFS, FAO, and CIRAD. The workshop brought together participants from Governments, r…

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