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arXiv · 1710.11097

Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

Nikhil Chavan-Dafle·Alberto Rodriguez
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Abstract

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner. Video Summary -- youtu.be/qOTKRJMx6Ho

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Nikhil Chavan-Dafle, Alberto Rodriguez. 2017-10-30. Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts. https://arxiv.org/abs/1710.11097

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