Hostname: page-component-8448b6f56d-c4f8m Total loading time: 0 Render date: 2024-04-19T22:10:42.878Z Has data issue: false hasContentIssue false
  • English
  • Français

Longitudinal Regrasping of Elongated Objects

Published online by Cambridge University Press:  31 July 2019

Avishai Sintov Open the ORCID record for Avishai Sintov [Opens in a new window] ,
Or Tslil  and
Shahar Frenkel
Avishai Sintov*
Affiliation:
Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
Or Tslil
Affiliation:
Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, 84105, Israel E-mails: ortslil64@gmail.com, shaharf131@gmail.com
Shahar Frenkel
Affiliation:
Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, 84105, Israel E-mails: ortslil64@gmail.com, shaharf131@gmail.com
*
*Corresponding author. E-mail: avishai.sintov@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

Regrasping is a manipulation to alternate between grasp configurations of an object to perform different tasks. We address a regrasping problem termed longitude regrasping to reposition a gripper along an elongated object. We propose an algorithm using the dynamics of the arm and a non-dexterous gripper to perform the manipulation. Energy control is used to toss the object up and catch it under the goal position. Clipped Linear Quadratic Regulator control approach is then applied to the gripper jaws to control the friction force on the object and to let it slide to the final goal position. The object sliding within the gripper is modeled as a semi-active linear joint where only dissipative forces can be applied to it. A set of experiments validated the feasibility of the method.

Keywords

RegraspingElongated objectsDynamic manipulations
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 639 - 651
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Cole, A. A., Hsu, P. and Sastry, S. S., “Dynamic control of sliding by robot hands for regrasping,” IEEE Trans. Robot. Auto. 8(1), 42–52 (1992).CrossRefGoogle Scholar
Sintov, A. and Shapiro, A., “Swing-Up Regrasping Using Energy Control,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden (2016).CrossRefGoogle Scholar
Sintov, A., Tslil, O. and Shapiro, A., “Robotic swing-up regrasping manipulation based on impulse-momentum approach and cLQR control,” IEEE Trans. Robot. 32(5), 1079–1090 (2016).CrossRefGoogle Scholar
Saut, J.-P., Gharbi, M., Cortes, J., Sidobre, D. and Simeon, T., “Planning Pick-and-Place Tasks with Two-Hand Regrasping,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan (2010) pp. 4528–4533.Google Scholar
Tournassoud, P., Lozano-Perez, T. and Mazer, E., “Regrasping,” Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, NC, USA, vol. 4 (1987) pp. 1924–1928.Google Scholar
Balaguer, B. and Carpin, S., “Bimanual Regrasping from Unimanual Machine Learning,” Proceedings of IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA (2012) pp. 3264–3270.Google Scholar
Corves, B., Mannheim, T. and Riedel, M., “Re-grasping: Improving capability for multi-arm-robot-system by dynamic reconfiguration,” In: Intelligent Robotics and Applications, vol. 7101 (Springer, Berlin, Heidelberg, 2011) pp. 132–141.CrossRefGoogle Scholar
Roa, M. A. and Suarez, R., “Regrasp Planning in the Grasp Space Using Independent Regions,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’09, St. Louis, MO, USA (2009) pp. 1823–1829.Google Scholar
Stuheli, M., Caurin, G., Pedro, L. and Siegwart, R., “Squeezed screw trajectories for smooth regrasping movements of robot fingers,” J. Brazilian Soc. Mech. Sci. Eng. 35(2), 83–92 (2013).CrossRefGoogle Scholar
Vinayavekhin, P., Kudoh, S. and Ikeuchi, K., “Towards an Automatic Robot Regrasping Movement Based on Human Demonstration Using Tangle Topology,” Proceedings of IEEE International Conference on Robotics and Automation, Shanghai (2011) pp. 3332–3339.Google Scholar
Dafle, N., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S., Erdmann, M., Mason, M., Lundberg, I., Staab, H. and Fuhlbrigge, T., “Regrasping Objects Using Extrinsic Dexterity,” Proceedings of IEEE International Conference on Robotics and Automation, Hong Kong (2014) p. 2560.Google Scholar
Hou, Y., Jia, Z., Johnson, A. M. and Mason, M. T., “Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces,” Workshop on the Algorithmic Foundations of Robotics, San Francisco, CA, USA (2016).Google Scholar
Sintov, A. and Shapiro, A., “Dynamic regrasping by in-hand orienting of grasped objects using non-dexterous robotic grippers,” Robot. Comput. Integ. Manufact. 50, 114–131 (2018).CrossRefGoogle Scholar
Hang, K., Li, M., Stork, J. A., Bekiroglu, Y., Pokorny, F. T., Billard, A. and Kragic, D., “Hierarchical fingertip space: A unified framework for grasp planning and in-hand grasp adaptation,” IEEE Trans. Robot. 32(4), 960–972 (2016).CrossRefGoogle Scholar
Furukawa, N., Namiki, A., Taku, S. and Ishikawa, M., “Dynamic regrasping using a high-speed multifingered hand and a high-speed vision system,” Proceedings of IEEE International Conference on Robotics and Automation, Orlando, FL, USA (2006) pp. 181–187.Google Scholar
Tahara, K., Maruta, K., Kawamura, A. and Yamamoto, M., “Externally Sensorless Dynamic Regrasping and Manipulation by a Triple-Fingered Robotic Hand with Torsional Fingertip Joints,” Proceedings of IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA (2012) pp. 3252–3257.Google Scholar
Xin, X., Tanaka, S., She, J. H. and Yamasaki, T., “Revisiting Energy-Based Swing-Up Control for the Pendubot,” Proceedings of the IEEE International Conference on Control Applications, Yokohama (2010) pp. 1576–1581.Google Scholar
Astrom, K. and Furuta, K., “Swinging up a pendulum by energy control,” Automatica 36(2), 287–295 (2000).CrossRefGoogle Scholar
Lane, J. S. and Ferri, A. A., “Optimal Control of a Semi-Active, Frictionally Damped Joint,” American Control Conference, Chicago, IL, USA (1992) pp. 2754–2759.Google Scholar
Gaul, L., Albrecht, H. and Wirnitzer, J., “Semi active friction damping of large truss structures,” Shock and Vibration 11(3), 173–186 (2004).CrossRefGoogle Scholar
Dupont, P., Kasturi, P. and Stokes, A., “Semi-active control of friction dampers,” J. Sound Vibrat. 202, 203–218 (1997).CrossRefGoogle Scholar
Ogata, K., Modern Control Engineering (Prentice-Hall, Englewood Cliffs, NJ, 1998).Google Scholar
Popp, K., Guran, A. and Pfeiffer, F., Dynamics with Friction: Modeling, Analysis and Experiment, EBL-Schweitzer (World Scientific Publishing, 2001).Google Scholar
Murray, R. M., Li, Z. and Sastry, S. S., A Mathematical Introduction to Robotic Manipulation, 1st edn. (CRC Press, Boca Raton, FL, USA, 1994).Google Scholar
Gaul, L. and Nitsche, R., “The role of friction in mechanical joints,” ASME Appl. Mech. Rev. 54(2), 93–106 (2001).CrossRefGoogle Scholar
Karnopp, D., “Computer simulation of stick-slip friction in mechanical dynamic systems,” ASME. J. Dyn. Sys. Meas. Control 107(1), 100–103 (1985).CrossRefGoogle Scholar
Durand, S., Guerrero Castellanos, F., Marchand, N. and Guerrero Sánchez, W. F., “Event-based control of the inverted pendulum: Swing up and stabilization,” J. Control Eng. Appl. Inf. 15(3), 96–104 (2013).Google Scholar
Tedrake, R., Manchester, I. R., Tobenkin, M. and Roberts, J. W., “LQR-trees: Feedback motion planning via sums-of-squares verification,” Int. J. Rob. Res. 29(8), 1038–1052 (2010).CrossRefGoogle Scholar
Trentelman, H., Stoorvogel, A. A. and Hautus, M., Control Theory for Linear Systems, 1st edn. (Springer-Verlag, London, UK, 2001).CrossRefGoogle Scholar

Sintov et al. supplementary material

Sintov et al. supplementary material 1

Download Sintov et al. supplementary material(Video)
Video 9.1 MB