论文标题
通过可变摩擦机器人的手指和外部接触的基于区域的3D内部操作计划
Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts
论文作者
论文摘要
试图实现机器人内部操作（WIHM）的尝试通常使用具有精美的传感设备或多臂机器人系统的高功能机器人手。在先前的工作中，我们介绍了一只带有可变摩擦机器人手指的简单机器人手，该手允许使用低复杂的方法来进行内部对象翻译和旋转，尽管这种操作仅限于平面动作。在这项工作中，我们通过一种新型的基于区域的WIHM规划算法并利用外部接触，将该系统的功能扩展到3D操作。调节手指摩擦的能力增强了三维WIHM的外部灵活性，并使我们能够在准静态水平上进行操作。基于区域的规划师会自动生成3D操纵序列，该序列具有修改的A*公式，该序列可导航手指和对象表面之间的接触区域以达到所需区域。该方法的核心是一组对象运动原始图（即内部滑动，旋转和旋转），可以通过更换接触摩擦来轻松实现。可以通过这种方法来实现广泛的目标区域，这是通过标准化的内部操纵基准测试协议后的实际机器人实验来证明的。
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to within-hand object translation and rotation, though this manipulation was limited to planar actions. In this work we extend the capabilities of this system to 3D manipulation with a novel region-based WIHM planning algorithm and utilizing extrinsic contacts. The ability to modulate finger friction enhances extrinsic dexterity for three-dimensional WIHM, and allows us to operate in the quasi-static level. The region-based planner automatically generates 3D manipulation sequences with a modified A* formulation that navigates the contact regions between the fingers and the object surface to reach desired regions. Central to this method is a set of object-motion primitives (i.e. within-hand sliding, rotation and pivoting), which can easily be achieved via changing contact friction. A wide range of goal regions can be achieved via this approach, which is demonstrated via real robot experiments following a standardized in-hand manipulation benchmarking protocol.
