Generalized Grasping and Manipulation Robert Platt Jr Andrew
Generalized Grasping and Manipulation Robert Platt Jr. , Andrew Fagg, Roderic Grupen 5/25/2005 Laboratory for Perceptual Robotics University of Massachusetts Amherst LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Motivation: Human Grasps from Mark Cutkosky, On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks, IEEE TRA Vol 5, No. 3, June 1989 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Outline 1. Grasp control 2. Control-based dexterous manipulation 3. Transport and grasp schemas (skills) LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Opposition Space from The Grasping Hand, C. Mac. Kenzie, T. Iberall, Springer, 1994 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Contact Parameterization of Grasp fgrasp 1, 2, 3 fgrasp palm, fingertips left, right left, gravity Platt, R. , Fagg, A. , Grupen R. , 2003 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Grasp Control: fgrasp Grasp artificial potential displaces contacts to descend wrench-closure error function: Coelho, J. , Grupen, R. , 1997; Platt, R. , Fagg, A. , Grupen R. , 2002 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Sliding Grasp Control Video Sliding Grasp Controller: fg fk f f LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Four Control Primitives fg fm grasp control collision free motion fk kinematic conditioning ff force control LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Combining Control Primitives Carry: fm f k f f fg Grasp: f g fk ff Platt, R. , Fagg, A. , Grupen R. , 2004 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Controller Equivalence Classes: Common Suffix common suffix f m fk ff f g f k fk ff f g Platt, R. , Fagg, A. , Grupen R. , 2004 LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Experiment: Transport Schema LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Schematic Transport Skill LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Schematic Grasp Skills LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Definition of Schema The Action Schema defines: 1. “Abstract” states and actions 2. A deterministic policy through the abstract space to the schema goal 3. A one-to-many mapping from the abstract policy onto instantiations in the underlying system. Subject of learning: • What instantiations are appropriate in what execution contexts? LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Localize-Reach-Grasp P(transition | blob parameters) LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Reach Primitives Position Orientation LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Pilot Results LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Pilot Results: Learning Curves (results averaged over three experiments. ) LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Pilot Results: Frictional Surface LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Pilot Results: Bagging Groceries LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
Pilot Results: Bagging Groceries LABORATORY FOR PERCEPTUAL ROBOTICS • UNIVERSITY OF MASSACHUSETTS AMHERST • DEPARTMENT OF COMPUTER SCIENCE
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