TY - GEN
T1 - Manipulation planning using environmental contacts to keep objects stable under external forces
AU - Chen, Lipeng
AU - Figueredo, Luis F.C.
AU - Dogar, Mehmet
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper addresses the problem of sequential manipulation planning to keep an object stable under changing external forces. Particularly, we focus on using object-environment contacts. We present a planning algorithm which can generate robot configurations and motions to intelligently use object-environment, as well as object-robot, contacts, to keep an object stable under forceful operations such as drilling and cutting. Given a sequence of external forces, the planner minimizes the number of different configurations used to keep the object stable. An important computational bottleneck in this algorithm is due to the static stability analysis of a large number of configurations. We propose a containment relationship between configurations, to prune the stability checking process.
AB - This paper addresses the problem of sequential manipulation planning to keep an object stable under changing external forces. Particularly, we focus on using object-environment contacts. We present a planning algorithm which can generate robot configurations and motions to intelligently use object-environment, as well as object-robot, contacts, to keep an object stable under forceful operations such as drilling and cutting. Given a sequence of external forces, the planner minimizes the number of different configurations used to keep the object stable. An important computational bottleneck in this algorithm is due to the static stability analysis of a large number of configurations. We propose a containment relationship between configurations, to prune the stability checking process.
UR - http://www.scopus.com/inward/record.url?scp=85082705574&partnerID=8YFLogxK
U2 - 10.1109/Humanoids43949.2019.9034998
DO - 10.1109/Humanoids43949.2019.9034998
M3 - Conference contribution
AN - SCOPUS:85082705574
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 417
EP - 424
BT - 2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PB - IEEE Computer Society
T2 - 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
Y2 - 15 October 2019 through 17 October 2019
ER -