Push-Grasping with Dexterous Hands: Mechanics and a Method

Mehmet Dogar and Siddhartha Srinivasa
Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.


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Abstract
We add to a manipulator’s capabilities a new primitive motion which we term a push-grasp. While significant progress has been made in robotic grasping of objects and geometric path planning for manipulation, such work treats the world and the object being grasped as immovable, often declaring failure when simple motions of the object could produce success. We analyze the mechanics of push-grasping and present a quasi-static tool that can be used both for analysis and simulation. We utilize this analysis to derive a fast, feasible motion planning algorithm that produces stable push-grasp plans for dexterous hands in the presence of object pose uncertainty and high clutter. We demonstrate our algorithm extensively in simulation and on HERB, a personal robotics platform developed at Intel Labs Pittsburgh.

Keywords
Grasping, Pushing, Object Manipulation, Humanoids

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

Text Reference
Mehmet Dogar and Siddhartha Srinivasa, "Push-Grasping with Dexterous Hands: Mechanics and a Method," Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.

BibTeX Reference
@inproceedings{Dogar_2010_6652,
   author = "Mehmet Dogar and Siddhartha Srinivasa",
   title = "Push-Grasping with Dexterous Hands: Mechanics and a Method",
   booktitle = "Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)",
   month = "October",
   year = "2010",
}