Regrasp Planning for Polygonal and Polyhedral Objects Thanathorn

Regrasp Planning for Polygonal and Polyhedral Objects Thanathorn Phoka Advisor : Dr. Attawith Sudsang 1

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Grasping Taxonomy 3 [Cutkosky ’ 89]

Robotic Grasping 4

Beyond Grasping. . . 5

Dexterous Manipulation finger position time 6

Regrasp Plan finger position time 7

Proposal in Brief Geometry Initial Grasp Algorithm for Planning Regrasp Sequences Solution Set of Regrasp Sequences Final Grasp 8

Motivation Manipulation Task Planning Regrasp Planning Solution Set of Regrasp Sequences Hand Control (Kinematics and Dynamics) Manipulation Stack 9

Things to Consider How to get good grasps Solution Set of Regrasp Sequences How to change from one grasp to the next 10

How to Get Good Grasps • What is a good grasp? Force Closure Equilibrium f = 0 & m = 0 Grasp which can resist any external disturbance 11

Force Closure • Wrench – Force • Force vector ( f ) – Torque • Torque vector ( r x f ) – Concatenation of force and torque • Wrench vector ( f, r x f ) r n 12

Force Closure • B. Mishra, J. T. Schwartz, and M. Sharir. On the existence and synthesis of multifinger positive grips, 1987. – Convex hull of wrenches contains the origin. m fy fx 13

Force Closure • Yun-Hui Liu. Qualitative test and force optimization of 3 -D frictional form-closure grasps using linear programming, 1999. • X. Zhu and J. Wang. Synthesis of force-closure grasps on 3 -d objects based on the Q distance, 2003. • X. Zhu, H. Ding, and S. K. Tso. A pseudodistance function and its applications, 2004. 14

Things to Consider How to get good grasps Solution Set of Regrasp Sequences How to change from one grasp to the next 15

How to Change from One Grasp to the Next Fingerswitching sliding Finger gaiting rolling Finger 16

Kinematics and Dynamics • Rolling contact – N. Sarkar, X. Yun and Vijay Kumar. Dynamic control of 3 -d rolling contacts in two-arm manipulation, 1997. – Jianfeng Li, Yuru Zhang, and Qixian Zhang. Kinematic algorithm of multifingered manipulation with rolling contact, 2000. – S. Arimoto, M. Yoshida and J. -H. Bae. Dynamic force/torque closure for 2 D and 3 D objects by means of rolling contacts with robot fingers, 2003. • Sliding contact – D. L. Brock. Enhancing the dexterity of robot hands using controlled slip, 1988. – Arlene A. Cole, Ping Hsu, and Shankar Sastry. Dynamic control of sliding by robot hands for regrasping, 1992. – Xin-Zhi Zheng, Ryo Nakashima, and Tsuneo Yoshikawa. On dynamic control of finger sliding and object motion in manipulation with multifingered hands, 2000. – S. Ueki, H. Kawasaki, and T. Mouri. Adaptive Coordinated Control of Multi-Fingered Hands with Sliding Contact, 2006. 17

Dexterous Manipulation & Regrasping Review Object Polygon Polyhedron Curve Contact points Constraints Operations Solutions existence Grasping Sliding Kinematics Rolling Dynamics Gaiting 1 solution strict solutions set of general solutions 18

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting Hong et. al. ‘ 90 1 solution strict solutions set of general solutions 19

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting Han & Trinkle ‘ 98 1 solution strict solutions set of general solutions 20

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting Cherif and Gupta ‘ 97 1 solution strict solutions set of general solutions 21

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting Omata and Nagata ‘ 94 1 solution strict solutions set of general solutions 22

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting 1 solution strict solutions set of general solutions R. Platt Jr. , A. H. Fagg and R. A. Grupen ‘ 04 23

Dexterous Manipulation & Regrasping Review Object Constraints Curve Contact points Solutions existence Polygon Polyhedron Operations Grasping Sliding Kinematics Rolling Dynamics Gaiting 1 solution strict solutions set of general solutions Xu Jijie and Li Zexiang Li ‘ 05 24

Our Proposed Regrasp Planning Problem Object Polygon Polyhedron Constraints Sliding Kinematics Rolling Dynamics Solutions existence Grasping Curve Contact points Operations Gaiting 1 solution strict solutions set of general solutions 25

Problem configuration • Regrasp planning • Object model – Polygon (2 D) – Polyhedron (3 D) – Contact point (assumed to be given from approximated 3 D triangular mesh) • Finger – Free-flying finger – 4 fingers (2 D) – 5 fingers (3 D) 26

Methodology ua c uc d a uc ub ud uc ub b ub a, b, c d, b, c 27

Complete works • Study works in grasping and regrasping. • Proposed the switching graph as a frame work for regrasp planning. • Apply simplified force closure conditions for polygon and polyhedron in algorithms constructing switching graphs. 28

Complete works • A. Sudsang and T. Phoka. Regrasp planning for a 4 -fingered hand manipulating a polygon. IEEE Int. Conf. on Robotics and Automation, 2003. • T. Phoka and A. Sudsang. Regrasp planning for a 5 -fingered hand manipulating a polyhedron. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003. • A. Sudsang and T. Phoka. Geometric Reformulation of 3 -Fingered Force-Closure Condition. IEEE Int. Conf. on Robotics and Automation, 2005. • T. Phoka, P. Pipattanasomporn, N. Niparnan and A. Sudsang. Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object. IEEE Int. Conf. on Robotics and Automation, 2005. • T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects by Genetic Algorithm. IEEE Int. Conf. on Robotics, Automation and Mechatronics , 2006. • T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects. IEEE Int. Conf. on Robotics and Biomimetics, China, 2006. 29

Ongoing works • Consider necessary and sufficient conditions force closure grasp. • Design a switching graph and an algorithm to cope with a set of contact points. • Publish a journal article. • Prepare and engage in a thesis defense. 30

Scope of the Research • Consider regrasp planning problem for polygon, polyhedron and discrete point set. • Propose a framework (switching graph) for regrasp planning in both 2 D and 3 D. • Develop efficient algorithms for solving regrasp planning based on the proposed framework. 31

Expected Contribution • We gain a framework and efficient algorithms working on regrasp planning problem in 2 D and 3 D workspace where the inputs are polygon, polyhedron or discrete point set. 32

Thank You 33