Chen, L, Figueredo, LFC orcid.org/0000-0002-0759-3000 and Dogar, M orcid.org/0000-0002-6896-5461 (2020) Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces. In: Proceedings of 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 15-17 Oct 2019, Toronto, ON, Canada. IEEE ISBN 978-1-5386-7630-1
Abstract
This paper addresses the problem of sequential manipulation planning to keep an object stable under changing external forces. Particularly, we focus on using object-environment contacts. We present a planning algorithm which can generate robot configurations and motions to intelligently use object-environment, as well as object-robot, contacts, to keep an object stable under forceful operations such as drilling and cutting. Given a sequence of external forces, the planner minimizes the number of different configurations used to keep the object stable. An important computational bottleneck in this algorithm is due to the static stability analysis of a large number of configurations. We propose a containment relationship between configurations, to prune the stability checking process.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/P019560/1 EU - European Union 746143 EU - European Union 795714 |
Depositing User: | Symplectic Publications |
Date Deposited: | 20 Sep 2019 14:22 |
Last Modified: | 30 Apr 2020 14:26 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/Humanoids43949.2019.9034998 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:151146 |