Manipulation planning using environmental contacts to keep objects stable under external forces

Lipeng Chen, Luis F.C. Figueredo, Mehmet Dogar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PublisherIEEE Computer Society
Pages417-424
Number of pages8
ISBN (Electronic)9781538676301
DOIs
StatePublished - Oct 2019
Externally publishedYes
Event19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
Duration: 15 Oct 201917 Oct 2019

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2019-October
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
Country/TerritoryCanada
CityToronto
Period15/10/1917/10/19

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