Planning pre-grasp manipulation for transport tasks

Lillian Y. Chang, Siddhartha Srinivasa, and Nancy Pollard
"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010.


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Abstract
Studies of human manipulation strategies suggest that pre-grasp object manipulation, such as rotation or sliding of the object to be grasped, can improve task performance by increasing both the task success rate and the quality of load-supporting postures. In previous demonstrations, pre-grasp object rotation by a robot manipulator was limited to manually-programmed actions. We present a method for automating the planning of pre-grasp rotation for object transport tasks. Our technique optimizes the grasp acquisition point by selecting a target object pose that can be grasped by high-payload manipulator configurations. Careful selection of the transition states leads to successful transport plans for tasks that are otherwise infeasible. In addition, optimization of the grasp acquisition posture also indirectly improves the transport plan quality, as measured by the safety margin of the manipulator payload limits.

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics and Computer Graphics Lab
Number of pages: 8
Note: ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Text Reference
Lillian Y. Chang, Siddhartha Srinivasa, and Nancy Pollard, "Planning pre-grasp manipulation for transport tasks," "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010.

BibTeX Reference
@inproceedings{Chang_2010_6537,
   author = "Lillian Y. Chang and Siddhartha Srinivasa and Nancy Pollard",
   title = "Planning pre-grasp manipulation for transport tasks",
   booktitle = ""Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)"",
   month = "May",
   year = "2010",
   Notes = "©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."
}