TR2024-061
Robust In-Hand Manipulation with Extrinsic Contacts
-
- "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611664, May 2024, pp. 6544-6550.BibTeX TR2024-061 PDF Video
- @inproceedings{Liang2024may,
- author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.}},
- title = {Robust In-Hand Manipulation with Extrinsic Contacts},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2024,
- pages = {6544--6550},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA57147.2024.10611664},
- isbn = {979-8-3503-8457-4},
- url = {https://www.merl.com/publications/TR2024-061}
- }
,
- "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA57147.2024.10611664, May 2024, pp. 6544-6550.
-
MERL Contact:
-
Research Area:
Abstract:
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact interactions which can be very susceptible to uncertainties in kinematic and physical parameters. Therefore, we propose a robust in-hand manipulation method, which consists of two parts. First, an in-gripper mechanics model that computes a naıve motion cone assuming all parameters are precise. Then, a robust planning method refines the motion cone to maintain desired contact mode regardless of parametric errors. Real-world experiments were conducted to illustrate the accuracy of the mechanics model and the effectiveness of the robust planning framework in the presence of kinematics parameter errors.
Related News & Events
-
NEWS MERL at the International Conference on Robotics and Automation (ICRA) 2024 Date: May 13, 2024 - May 17, 2024
Where: Yokohama, Japan
MERL Contacts: Anoop Cherian; Radu Corcodel; Stefano Di Cairano; Chiori Hori; Siddarth Jain; Devesh K. Jha; Jonathan Le Roux; Diego Romeres; William S. Yerazunis
Research Areas: Artificial Intelligence, Machine Learning, Optimization, Robotics, Speech & AudioBrief- MERL made significant contributions to both the organization and the technical program of the International Conference on Robotics and Automation (ICRA) 2024, which was held in Yokohama, Japan from May 13th to May 17th.
MERL was a Bronze sponsor of the conference, and exhibited a live robotic demonstration, which attracted a large audience. The demonstration showcased an Autonomous Robotic Assembly technology executed on MELCO's Assista robot arm and was the collaborative effort of the Optimization and Robotics Team together with the Advanced Technology department at Mitsubishi Electric.
MERL researchers from the Optimization and Robotics, Speech & Audio, and Control for Autonomy teams also presented 8 papers and 2 invited talks covering topics on robotic assembly, applications of LLMs to robotics, human robot interaction, safe and robust path planning for autonomous drones, transfer learning, perception and tactile sensing.
- MERL made significant contributions to both the organization and the technical program of the International Conference on Robotics and Automation (ICRA) 2024, which was held in Yokohama, Japan from May 13th to May 17th.