# Regrasp Planning for Polygonal and Polyhedral Objects

Mechanics

Nov 14, 2013 (4 years and 8 months ago)

117 views

Regrasp Planning for Poly
gonal and Polyhedral
Object
s

Thanathorn Phoka

1

2

Grasping Taxonomy

[Cutkosky ’89]

3

Robotic Grasping

4

Beyond Grasping...

5

Dexterous Manipulation

time

finger position

6

Regrasp Plan

time

finger position

7

Proposal in Brief

Algorithm for
Planning
Regrasp
Sequences

Geometry

Initial Grasp

Final Grasp

Solution Set of
Regrasp
Sequences

8

Motivation

Hand Control (Kinematics and
Dynamics)

Manipulation Stack

Solution Set of
Regrasp
Sequences

Regrasp Planning

9

Things to Consider

Solution Set of
Regrasp
Sequences

How to get good grasps

How to change from
one grasp to the next

10

Equilibrium

How to Get Good Grasps

What is a good grasp?

Force Closure

11

f
=

0
&

m
=

0

Grasp which can resist any external disturbance

Force Closure

Wrench

Force

Force vector
( f )

Torque

Torque vector
( r x f )

Concatenation of force and torque

Wrench vector
( f, r x f )

r

n

12

Force Closure

B. Mishra, J.T. Schwartz, and M. Sharir.
On the existence and synthesis of
multifinger positive grips
, 1987
.

Convex hull of wrenches contains the origin.

f
x

f
y

m

13

Force Closure

Yun
-
Hui Liu. Qualitative test and force
optimization of
3
-
D

frictional form
-
closure grasps
using linear programming
, 1999
.

X. Zhu and J. Wang. Synthesis of force
-
closure
grasps on
3
-
d objects based on the
Q

distance
,
2003
.

X. Zhu, H. Ding, and S. K. Tso. A
pseudodistance function and its applications
,
2004
.

14

Things to Consider

Solution Set of
Regrasp
Sequences

How to get good grasps

How to change from
one grasp to the next

15

How to Change from One Grasp
to the Next

Finger switching

Finger gaiting

Finger sliding

Finger rolling

16

Kinematics and Dynamics

Rolling contact

N
.

Sarkar, X
.

Yun and Vijay Kumar. Dynamic control of
3
-
d rolling
contacts in two
-
arm manipulation
, 1997.

Jianfeng Li, Yuru Zhang, and Qixian Zhang. Kinematic algorithm of
multifingered manipulation with rolling contact, 2000.

S. Arimoto, M. Yoshida and J.
-
H. Bae. Dynamic force/torque closure for
2D and 3D objects by means of rolling contacts with robot fingers, 2003.

Sliding contact

D. L. Brock. Enhancing the dexterity of robot hands using controlled slip
,
1988
.

Arlene A. Cole, Ping Hsu, and Shankar Sastry. Dynamic control of
sliding by robot hands for regrasping
, 1992.

Xin
-
Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa. On dynamic
control of finger sliding and object motion in manipulation with
multifingered hands
, 2000
.

S
.

Ueki, H
.

Kawasaki, and T
.

Mouri
.
Multi
-
Fingered Hands with Sliding Contact
, 2006.

17

Dexterous Manipulation &
Regrasping Review

Grasping

Kinematics

Dynamics

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

18

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

Hong et. al. ‘90

Grasping

Kinematics

Dynamics

19

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

Han & Trinkle ‘98

Grasping

Dynamics

Kinematics

20

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

Cherif and Gupta ‘97

Grasping

Kinematics

Dynamics

21

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

Omata and Nagata ‘94

Grasping

Kinematics

Dynamics

22

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

R. Platt Jr., A.H. Fagg and R.A. Grupen

‘04

Grasping

Kinematics

Dynamics

23

Dexterous Manipulation &
Regrasping Review

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

Xu
Jijie and Li Zexiang Li
‘05

Grasping

Kinematics

Dynamics

24

Our Proposed Regrasp Planning
Problem

Grasping

Kinematics

Dynamics

1 solution

strict solutions

Sliding

Constraints

Operations

Solutions

Object

Polygon

Curve

Contact
points

Polyhedron

set of general
solutions

existence

Rolling

Gaiting

25

Problem configuration

Regrasp planning

Object model

Polygon (2D)

Polyhedron (3D)

Contact point (assumed to be given from
approximated 3D triangular mesh)

Finger

Free
-
flying finger

4 fingers (2D)

5 fingers (3D)

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Methodology

u
c

u
a

u
b

u
d

u
b

u
c

u
b

u
c

a

b

c

d

a,b,c

d,b,c

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Complete works

Study works in
grasping and regrasping.

Proposed the
switching graph

as a frame
work for regrasp planning.

Apply simplified force closure conditions
for
polygon

and
polyhedron

in algorithms
constructing switching graphs.

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Complete works

A. Sudsang and T. Phoka. Regrasp planning for a 4
-
fingered hand manipulating a
polygon.
IEEE Int. Conf. on Robotics and Automation
,
2003
.

T. Phoka and A. Sudsang. Regrasp planning for a 5
-
fingered hand manipulating a
polyhedron.
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
,
2003
.

A. Sudsang and T. Phoka. Geometric Reformulation of
3
-
Fingered Force
-
Closure
Condition.
IEEE Int. Conf. on Robotics and Automation
,
2005.

T. Phoka, P. Pipattanasomporn, N. Niparnan and A. Sudsang. Regrasp Planning of
Four
-
Fingered Hand for Parallel Grasp of a Polygonal Object.
IEEE Int. Conf. on
Robotics and Automation
,
2005
.

T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force
-
Closure Grasps for
Curved Objects by Genetic Algorithm.
IEEE Int
.

Conf
.

on Robotics, Automation and
Mechatronics
,
2006.

T. Phoka, N. Niparnan and A. Sudsang
.

Planning Optimal Force
-
Closure Grasps for
Curved Objects
.

IEEE Int. Conf. on Robotics and Biomimetics
, China,
2006.

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Ongoing works

Consider necessary and sufficient
conditions for force closure grasp.

Design a switching graph and an algorithm
to cope with a set of contact points.

Publish a journal article.

Prepare and engage in a thesis defense.

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Scope of the Research

Consider regrasp planning problem for
polygon, polyhedron and discrete point
set.

Propose a framework (switching graph) for
regrasp planning in both 2D and 3D.

Develop efficient algorithms for solving
regrasp planning based on the proposed
framework.

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We gain a framework and efficient
algorithms working on regrasp planning
problem in
2D

and
3D

workspace where
the inputs are polygon, polyhedron or
discrete point set.

Expected Contribution

32

Thank You

33