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Manipulation planning under changing external forces

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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.

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Notes

  1. Later in Sect. 4.1, we present a more realistic model where \({{\textit{\textbf{f}}}}\) is a distribution of a set of possible generalized forces that can be applied during an forceful operation, instead of a single idealized force.

  2. This is for clarity of explanation and because the robot we use in our experiments has two arms. However, our formulation is general and can be easily extended to systems with more manipulators.

  3. Along the \(+z\) direction, the object can rest against the gripper palm, therefore the planner adopted a large force limit (\(100\,N\)) for \(\text {P}^{+}_z\).

  4. In Fig. 12 we show the force distribution of one operation trial for the sake of visual clarity, but the models are extracted from data of 30 trials.

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  1. School of Computing, University of Leeds, Leeds, UK

    Lipeng Chen, Luis F. C. Figueredo & Mehmet R. Dogar

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  1. Lipeng Chen
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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie SklodowskaCurie Grants Agreement No. 746143 and 795714, and from the UK Engineering and Physical Sciences Research Council under Grant EP/P019560/1.

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Chen, L., Figueredo, L.F.C. & Dogar, M.R. Manipulation planning under changing external forces. Auton Robot 44, 1249–1269 (2020). https://doi.org/10.1007/s10514-020-09930-z

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