Computer Science > Robotics
arXiv:2203.01203 (cs)
[Submitted on 2 Mar 2022 (v1), last revised 1 Jun 2022 (this version, v2)]
Title:Manipulation of unknown objects via contact configuration regulation
View a PDF of the paper titled Manipulation of unknown objects via contact configuration regulation, by Neel Doshi and 2 other authors
View PDFAbstract:We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrains the forces and motions that can be applied to the object; however, synthesizing these constraints generally requires knowledge of the object's pose and geometry. We develop an object-agnostic approach for estimation and control that circumvents this need. Our framework directly estimates a set of wrench and motion constraints which it uses to regulate the contact configuration. We use this to reactively manipulate unknown planar objects in the gravity plane. A video describing our work can be found on our project page:this http URL.
| Comments: | Authors contributed equally, names listed in alphabetical order. ICRA 2022 |
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2203.01203 [cs.RO] |
| (orarXiv:2203.01203v2 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2203.01203 arXiv-issued DOI via DataCite |
Submission history
From: Neel Doshi [view email][v1] Wed, 2 Mar 2022 15:55:26 UTC (5,596 KB)
[v2] Wed, 1 Jun 2022 14:06:20 UTC (5,590 KB)
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View a PDF of the paper titled Manipulation of unknown objects via contact configuration regulation, by Neel Doshi and 2 other authors
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