Regrasp Planning for Polygonal and Polyhedral Objects

Thanathorn Phoka

Advisor : Dr. Attawith Sudsang

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Grasping Taxonomy

[Cutkosky ’89]3

Robotic Grasping

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Beyond Grasping...

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Dexterous Manipulation

time

finger position

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Regrasp Plan

time

finger position

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Proposal in Brief

Algorithm for Planning Regrasp

Sequences

Geometry

Initial Grasp

Final Grasp

Solution Set of Regrasp

Sequences

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Motivation

Hand Control (Kinematics and Dynamics)

Manipulation Stack

Solution Set of Regrasp

Sequences

Manipulation Task Planning

Regrasp Planning

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Things to Consider

Solution Set of Regrasp

Sequences

How to get good grasps

How to change from one grasp to the next

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Equilibrium

How to Get Good Grasps

• What is a good grasp?

Force Closure

11f = 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 )

rn

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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.

fx

fy

m

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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.

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Things to Consider

Solution Set of Regrasp

Sequences

How to get good grasps

How to change from one grasp to the next

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How to Change from One Grasp to the Next

Finger switchingFinger gaitingFinger slidingFinger rolling 16

Kinematics and Dynamics

• Rolling contact– N. Sarkar, X. Yun and Vijay Kumar. Dynamic control of 3-d rolling conta

cts 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 slidin

g by robot hands for regrasping, 1992.– Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa. On dynamic c

ontrol 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.

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Dexterous Manipulation & Regrasping Review

Grasping

Kinematics

Dynamics

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

Hong et. al. ‘90

Grasping

Kinematics

Dynamics

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

Han & Trinkle ‘98

Grasping

Dynamics

Kinematics

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

Cherif and Gupta ‘97

Grasping

Kinematics

Dynamics

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

Omata and Nagata ‘94

Grasping

Kinematics

Dynamics

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

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

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Dexterous Manipulation & Regrasping Review

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

Xu Jijie and Li Zexiang Li ‘05

Grasping

Kinematics

Dynamics

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Our Proposed Regrasp Planning Problem

Grasping

Kinematics

Dynamics

1 solution

strict solutions

Sliding

Constraints Operations SolutionsObject

Polygon

Curve

Contact points

Polyhedron

set of general solutions

existence

Rolling

Gaiting

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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

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a

b

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d

a,b,ca,b,c d,b,cd,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 pol

ygon. 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

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Thank You

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