Home/Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces

Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces

Yifan Hou, Zhenzhong Jia, Aaron M. Johnson and Matthew T. Mason
THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS, December, 2016

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

In this paper, we investigate the planar dynamic pivoting problem, in which a pinched object is reoriented to a desired pose through wrist swing motion and grip force regulation. Traditional approaches based on friction compensation do not work well for this problem, as we observe the torsional friction at the contact has large uncertainties during pivoting. In addition, the discontinuities of friction and the lower bound constraint on the grip force all make dynamic pivoting a chal-lenging task for robots. To address these problems, we propose a robust control strategy that directly uses friction as a key input for dynamic pivoting, and show that active friction control by regulating the grip force significantly improves system stability. In particular, we embed a Lyapunov-based control law into a quadratic programming framework, which also ensures real-time computational speed and the existence of a solution. The proposed algorithm has been validated on our dynamic pivoting robot that emulates human wrist-finger configuration and motion. The object orientation can quickly converge to the target even under considerable uncertainties from friction and object grasping position, where traditional methods fail.

BibTeX Reference
@conference{Hou-2016-26526,
title = {Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces},
author = {Yifan Hou and Zhenzhong Jia and Aaron M. Johnson and Matthew T. Mason},
booktitle = {THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS},
keyword = {Robot, Manipulation, Pivoting, Friction, Robust Control},
publisher = {Springer},
grantID = {NSF 1662682},
month = {December},
year = {2016},
}
2017-09-13T10:38:10+00:00