Chen, L, Figueredo, LFC and Dogar, MR orcid.org/0000-0002-6896-5461 (2020) Manipulation planning under changing external forces. Autonomous Robots, 44. pp. 1249-1269. ISSN 0929-5593
Abstract
This paper presents a planner that enables robots to manipulate objects under changing external forces. Particularly, we focus on the scenario where a human applies a sequence of forceful operations, e.g. cutting and drilling, on an object that is held by a robot. The planner produces an efficient manipulation plan by choosing stable grasps on the object, by intelligently deciding when the robot should change its grasp on the object as the external forces change, and by choosing subsequent grasps such that they minimize the number of regrasps required in the long-term. Furthermore, as it switches from one grasp to the other, the planner solves the bimanual regrasping in the air by using an alternating sequence of bimanual and unimanual grasps. We also present a conic formulation to address force uncertainties inherent in human-applied external forces, using which the planner can robustly assess the stability of a grasp configuration without sacrificing planning efficiency. We provide a planner implementation on a dual-arm robot and present a variety of simulated and real human-robot experiments to show the performance of our planner.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © Springer Science+Business Media, LLC, part of Springer Nature 2020. This is an author produced version of an article published in Autonomous Robots. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Manipulation planning; Forceful human-robot collaboration; Task-oriented grasping |
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: | 29 Jun 2020 14:11 |
Last Modified: | 09 Jul 2021 00:38 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/s10514-020-09930-z |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162526 |