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Regrasp Planning for Poly gonal and Polyhedral Object s

Regrasp Planning for Poly gonal and Polyhedral Object s. Thanathorn Phoka Advisor : Dr. Attawith Sudsang. Grasping Taxonomy. [Cutkosky ’89]. Robotic Grasping. Beyond Grasping. Dexterous Manipulation. finger position. time. Regrasp Plan. finger position. time. Proposal in Brief.

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Regrasp Planning for Poly gonal and Polyhedral Object s

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  1. Regrasp Planning for Polygonal and Polyhedral Objects Thanathorn Phoka Advisor : Dr. Attawith Sudsang

  2. Grasping Taxonomy [Cutkosky ’89]

  3. Robotic Grasping

  4. Beyond Grasping...

  5. Dexterous Manipulation finger position time

  6. Regrasp Plan finger position time

  7. Proposal in Brief Geometry Algorithm for Planning Regrasp Sequences Solution Set of Regrasp Sequences Initial Grasp Final Grasp

  8. Motivation Solution Set of Regrasp Sequences Manipulation Stack

  9. Things to Consider How to get good grasps Solution Set of Regrasp Sequences How to change from one grasp to the next

  10. How to Get Good Grasps • What is a good grasp? Equilibrium Force Closure f = 0 & m = 0 Grasp which can resist any external disturbance

  11. Force Closure • Wrench • Force • Force vector ( f ) • Torque • Torque vector ( r x f ) • Concatenation of force and torque • Wrench vector ( f, r x f ) r n

  12. m fy fx Force Closure • B. Mishra, J.T. Schwartz, and M. Sharir. On the existence and synthesis of multifinger positive grips, 1987. • Convex hull of wrenches contains the origin.

  13. Force Closure • Yun-Hui Liu. Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming, 1999. • X. Zhu and J. Wang. Synthesis of force-closure grasps on 3-d objects based on the Q distance, 2003. • X. Zhu, H. Ding, and S. K. Tso. A pseudodistance function and its applications, 2004.

  14. Things to Consider How to get good grasps Solution Set of Regrasp Sequences How to change from one grasp to the next

  15. How to Change from One Grasp to the Next Finger sliding Finger rolling Finger switching Finger gaiting

  16. Kinematics and Dynamics • Rolling contact • N. Sarkar, X. Yun and Vijay Kumar. Dynamic control of 3-d rolling contacts in two-arm manipulation, 1997. • Jianfeng Li, Yuru Zhang, and Qixian Zhang. Kinematic algorithm of multifingered manipulation with rolling contact, 2000. • S. Arimoto, M. Yoshida and J.-H. Bae. Dynamic force/torque closure for 2D and 3D objects by means of rolling contacts with robot fingers, 2003. • Sliding contact • D. L. Brock. Enhancing the dexterity of robot hands using controlled slip, 1988. • Arlene A. Cole, Ping Hsu, and Shankar Sastry. Dynamic control of sliding by robot hands for regrasping, 1992. • Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa. On dynamic control of finger sliding and object motion in manipulation with multifingered hands, 2000. • S. Ueki, H. Kawasaki, and T. Mouri. Adaptive Coordinated Control of Multi-Fingered Hands with Sliding Contact, 2006.

  17. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions

  18. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions Hong et. al. ‘90

  19. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions Han & Trinkle ‘98

  20. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions Cherif and Gupta ‘97

  21. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions Omata and Nagata ‘94

  22. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions R. Platt Jr., A.H. Fagg and R.A. Grupen‘04

  23. Dexterous Manipulation & Regrasping Review Object Constraints Operations Solutions existence Polygon Sliding Grasping 1 solution Polyhedron Rolling Kinematics Curve strict solutions Dynamics Gaiting Contact points set of general solutions Xu Jijie and Li Zexiang Li ‘05

  24. Our Proposed Regrasp Planning Problem Object Constraints Operations Solutions existence Polygon Grasping Sliding 1 solution Polyhedron Kinematics Rolling Curve strict solutions Dynamics Gaiting Contact points set of general solutions

  25. Problem configuration • Regrasp planning • Object model • Polygon (2D) • Polyhedron (3D) • Contact point (assumed to be given from approximated 3D triangular mesh) • Finger • Free-flying finger • 4 fingers (2D) • 5 fingers (3D)

  26. ua uc uc ub ub ud uc ub Methodology c d a b a,b,c d,b,c

  27. Complete works • Study works in grasping and regrasping. • Proposed the switching graph as a frame work for regrasp planning. • Apply simplified force closure conditions for polygon and polyhedron in algorithms constructing switching graphs.

  28. Complete works • A. Sudsang and T. Phoka. Regrasp planning for a 4-fingered hand manipulating a polygon. IEEE Int. Conf. on Robotics and Automation, 2003. • T. Phoka and A. Sudsang. Regrasp planning for a 5-fingered hand manipulating a polyhedron. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003. • A. Sudsang and T. Phoka. Geometric Reformulation of 3-Fingered Force-Closure Condition. IEEE Int. Conf. on Robotics and Automation, 2005. • T. Phoka, P. Pipattanasomporn, N. Niparnan and A. Sudsang. Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object. IEEE Int. Conf. on Robotics and Automation, 2005. • T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects by Genetic Algorithm. IEEE Int. Conf. on Robotics, Automation and Mechatronics, 2006. • T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects.IEEE Int. Conf. on Robotics and Biomimetics, China, 2006.

  29. Ongoing works • Consider necessary and sufficient conditions for force closure grasp. • Design a switching graph and an algorithm to cope with a set of contact points. • Publish a journal article. • Prepare and engage in a thesis defense.

  30. Scope of the Research • Consider regrasp planning problem for polygon, polyhedron and discrete point set. • Propose a framework (switching graph) for regrasp planning in both 2D and 3D. • Develop efficient algorithms for solving regrasp planning based on the proposed framework.

  31. Expected Contribution • We gain a framework and efficient algorithms working on regrasp planning problem in 2D and 3D workspace where the inputs are polygon, polyhedron or discrete point set.

  32. Thank You

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