Regrasp Planning for Poly
gonal and Polyhedral
Object
s
Thanathorn Phoka
Advisor : Dr. Attawith Sudsang
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
Manipulation Task Planning
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
.
Adaptive Coordinated Control of
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)
26
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
27
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.
28
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.
29
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.
30
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.
31
•
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
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