TR2024-061

Robust In-Hand Manipulation with Extrinsic Contacts


    •  Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "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}
      • }
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  • Research Area:

    Robotics

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.

 

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  •  Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", arXiv, March 2024.
    BibTeX arXiv
    • @article{Liang2024mar,
    • author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.},
    • title = {Robust In-Hand Manipulation with Extrinsic Contacts},
    • journal = {arXiv},
    • year = 2024,
    • month = mar,
    • url = {https://arxiv.org/abs/2403.18960}
    • }