Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces
Manipulation Planning Using Environmental Contacts to Keep Objects Stable under External Forces
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DOI：
10.1109/humanoids43949.2019.9034998
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
Lipeng Chen;Luis F. C. Figueredo;M. Dogar
中科院分区：
文献类型：
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作者：
Lipeng Chen;Luis F. C. Figueredo;M. Dogar
本文研究了在不断变化的外力作用下保持物体稳定的顺序操作计划问题。特别地，我们关注于使用对象环境联系。我们提出了一种规划算法，该算法可以生成机器人的结构和运动，以智能地利用物体-环境以及物体-机器人接触来保持物体在强操作（如钻孔和切割）下的稳定。给定一系列外力，规划器将用于保持物体稳定的不同配置的数量最小化。该算法的一个重要计算瓶颈是对大量构型的静态稳定性分析。我们提出了构型之间的包容关系，以简化稳定性检查过程。
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.