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Dexterous manipulation by means of compliant grasps and external contacts
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. KTH.ORCID-id: 0000-0003-3252-715X
Chalmers, Sweden.ORCID-id: 0000-0001-5129-342X
2017 (engelsk)Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, IEEE, 2017, s. 1913-1920, artikkel-id 8206010Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We propose a method that allows for dexterousmanipulation of an object by exploiting contact with an externalsurface. The technique requires a compliant grasp, enablingthe motion of the object in the robot hand while allowingfor significant contact forces to be present on the externalsurface. We show that under this type of grasp it is possibleto estimate and control the pose of the object with respect tothe surface, leveraging the trade-off between force control andmanipulative dexterity. The method is independent of the objectgeometry, relying only on the assumptions of type of grasp andthe existence of a contact with a known surface. Furthermore,by adapting the estimated grasp compliance, the method canhandle unmodelled effects. The approach is demonstrated andevaluated with experiments on object pose regulation andpivoting against a rigid surface, where a mechanical springprovides the required compliance.

sted, utgiver, år, opplag, sider
IEEE, 2017. s. 1913-1920, artikkel-id 8206010
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Dexterous manipulation, grasping, dual-arm, bimanual, estimation, contact, kalman filter, adaptive
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-215234DOI: 10.1109/IROS.2017.8206010Scopus ID: 2-s2.0-85041951703ISBN: 978-1-5386-2681-8 (digital)OAI: oai:DiVA.org:kth-215234DiVA, id: diva2:1147199
Konferanse
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Prosjekter
SARAFun
Forskningsfinansiär
EU, Horizon 2020, 8012
Merknad

QC 20171023

Tilgjengelig fra: 2017-10-05 Laget: 2017-10-05 Sist oppdatert: 2019-10-28bibliografisk kontrollert
Inngår i avhandling
1. Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
Åpne denne publikasjonen i ny fane eller vindu >>Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
2019 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. In other contexts, however, the time cost of setting up a classical robotic automation workcell is often prohibitive. This is the case with cellphone manufacturing, for example, which is currently mostly executed by human workers. Robotic automation is nevertheless desirable in these human-centric environments, as a robot can automate the most tedious parts of an assembly. To deploy robots in these environments, however, requires an ability to deal with uncertainties and to robustly execute any given task. In this thesis, we discuss two topics related to autonomous robotic manipulation. First, we address parametric uncertainties in manipulation tasks, such as the location of contacts during the execution of an assembly. We propose and experimentally evaluate two methods that rely on force and torque measurements to produce estimates of task related uncertainties: a method for dexterous manipulation under uncertainties which relies on a compliant rotational degree of freedom at the robot's gripper grasp point and exploits contact  with an external surface, and a cooperative manipulation system which is able to identify the kinematics of a two degrees of freedom mechanism. Then, we consider redundancies in dual-arm robotic manipulation. Dual-armed robots offer a large degree of redundancy which can be exploited to ensure a more robust task execution. When executing an assembly task, for instance, robots can freely change the location of the assembly in their workspace without affecting the task execution. We discuss methods that explore these types of redundancies in relative motion tasks in the form of asymmetries in their execution. Finally, we approach the converse problem by presenting a system which is able to balance measured forces and torques at its end-effectors by leveraging relative motion between them, while grasping a rigid tray. This is achieved through discrete sliding of the grasp points, which constitutes a novel application of bimanual dexterous manipulation.

sted, utgiver, år, opplag, sider
KTH Royal Institute of Technology, 2019. s. 40
Serie
TRITA-EECS-AVL ; 2019:73
HSV kategori
Identifikatorer
urn:nbn:se:kth:diva-263043 (URN)978-91-7873-331-6 (ISBN)
Disputas
2019-11-22, Room F3, Lindstedtsvägen 26, Stockholm, 14:00 (engelsk)
Opponent
Veileder
Merknad

QC 20191105

Tilgjengelig fra: 2019-11-05 Laget: 2019-10-28 Sist oppdatert: 2019-11-18bibliografisk kontrollert

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