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Generalized Grasping and Manipulation

Generalized Grasping and Manipulation. Robert Platt Jr., Andrew Fagg, Roderic Grupen 5/25/2005. Laboratory for Perceptual Robotics University of Massachusetts Amherst. Motivation: Human Grasps.

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Generalized Grasping and Manipulation

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  1. Generalized Grasping and Manipulation Robert Platt Jr., Andrew Fagg, Roderic Grupen 5/25/2005 Laboratory for Perceptual Robotics University of Massachusetts Amherst

  2. Motivation: Human Grasps from Mark Cutkosky, On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks, IEEE TRA Vol 5, No. 3, June 1989

  3. Outline • Grasp control • Control-based dexterous manipulation • Transport and grasp schemas (skills)

  4. Opposition Space from The Grasping Hand, C. MacKenzie, T. Iberall, Springer, 1994

  5. Contact Parameterization of Grasp 1,2,3 f palm, fingertips grasp 1,2,3 f grasp palm, fingertips left, right f grasp left, right left f grasp left, gravity Platt, R., Fagg, A., Grupen R., 2003

  6. f grasp Grasp Control: Grasp artificial potential displaces contacts to descend wrench-closure error function: Coelho, J., Grupen, R., 1997; Platt, R., Fagg, A., Grupen R., 2002

  7. Sliding Grasp Control Video f f f Sliding Grasp Controller: g k f

  8. f f f f f m k g Four Control Primitives grasp control collision free motion kinematic conditioning force control

  9. Combining Control Primitives Carry: f f f f m k f g Grasp: f f f g k f Platt, R., Fagg, A., Grupen R., 2004

  10. Controller Equivalence Classes: Common Suffix common suffix f f f f m k f g f f f f k k f g f f f f g k f g Platt, R., Fagg, A., Grupen R., 2004

  11. Experiment: Transport Schema

  12. Schematic Transport Skill

  13. Schematic Grasp Skills

  14. Definition of Schema The Action Schema defines: • “Abstract” states and actions • A deterministic policy through the abstract space to the schema goal • A one-to-many mapping from the abstract policy onto instantiations in the underlying system. Subject of learning: • What instantiations are appropriate in what execution contexts?

  15. Localize-Reach-Grasp P(transition | blob parameters)

  16. Reach Primitives Position Orientation

  17. Pilot Results

  18. Pilot Results: Learning Curves (results averaged over three experiments.)

  19. Pilot Results: Frictional Surface

  20. Pilot Results: Bagging Groceries

  21. Pilot Results: Bagging Groceries

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