Regrasp Planning for a 4-Fingered Regrasp Planning for a 4-Fingered Hand Manipulating a PolygonHand Manipulating a Polygon

การวางแผนการจับด้ วยมื�อที่��มื� การวางแผนการจับด้ วยมื�อที่��มื� 4 4 น��วเพื่��อที่�าการจัด้การกบวตถุ�หลายน��วเพื่��อที่�าการจัด้การกบวตถุ�หลาย

ด้ านด้ านโด้ย นายธนะธร พื่#อค้ า โด้ย นายธนะธร พื่#อค้ า 457 0343457 0343

3 213 21

อาจัารย%ที่��ปร'กษา ด้รอาจัารย%ที่��ปร'กษา ด้ร. . อรรถุว�ที่ย% อรรถุว�ที่ย% สุ�ด้แสุงสุ�ด้แสุง

OutlineOutline

IntroductionIntroductionRelated worksRelated worksBackgroundBackgroundThesisThesis

IntroductionIntroduction

Why regrasp?Why regrasp?

IntroductionIntroduction

Properties for stable graspProperties for stable grasp

EquilibriumEquilibrium

Force closureForce closure

IntroductionIntroduction

Computing a sequence of finger Computing a sequence of finger repositioningrepositioning

Problem definitionProblem definitionPolygonal objectPolygonal object4-fingered hand4-fingered hand

IntroductionIntroduction

1

2

3

4

2

Finger switchingFinger aligning

IntroductionIntroduction

New approachNew approachSwitching graphSwitching graphGraph searchGraph search

FC grasps

FC grasps

FC grasps

FC grasps FC grasps

FC grasps

Finger switching

Finger switching

Finger switching

Finger switching

Finger switching

Related worksRelated works

Dexterous manipulationDexterous manipulationTask planningTask planningGrasp positionsGrasp positionsDynamics, kinematics, forceDynamics, kinematics, force

Related worksRelated works Robot handsRobot hands

S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Bigger. S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Bigger. Design of the Utah/MIT Dextrous Hand. Design of the Utah/MIT Dextrous Hand. IEEE Int. Conf. on IEEE Int. Conf. on Robotics and AutomationRobotics and Automation, pp. 96-102, 1986., pp. 96-102, 1986.

J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger. DLR-J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger. DLR-Hand II: Next Generation of a Dextrous Robot Hand.Hand II: Next Generation of a Dextrous Robot Hand. IEEE Int. IEEE Int. Conf. on Robotics and AutomationConf. on Robotics and Automation, , SeoulSeoul, 2001. , 2001.

C.S. Lovchik and M.A. Diftler. 1999. The Robonaut hand: a dextC.S. Lovchik and M.A. Diftler. 1999. The Robonaut hand: a dexterous robot hand for space.erous robot hand for space. IEEE Int. Conf. on Robotics and AutIEEE Int. Conf. on Robotics and Automationomation, pp. 907-912, 1999., pp. 907-912, 1999.

I. Yamano, K. Takemura, and T. Maeno. Development of a I. Yamano, K. Takemura, and T. Maeno. Development of a Robot Finger for Five-fingered Hand using Ultrasonic Motors. Robot Finger for Five-fingered Hand using Ultrasonic Motors. IEEE/RSJ Int. Conf. on Intelligent Robots and SystemsIEEE/RSJ Int. Conf. on Intelligent Robots and Systems,, 2003.2003.

Related worksRelated works

GraspingGraspingV-D. Nguyen. Construction force-closure grasV-D. Nguyen. Construction force-closure gras

ps, ps, 1988.1988.2-fingered force closure grasp2-fingered force closure graspIndependent contact regionIndependent contact region

J. Ponce and B. Faverjon. On computing threJ. Ponce and B. Faverjon. On computing three-finger force-closure grasps of polygonal obje-finger force-closure grasps of polygonal objects, ects, 1995.1995.2 and 3-fingered force closure grasp2 and 3-fingered force closure graspIndependent contact regionIndependent contact region

Related worksRelated works

Dexterous manipulation & regraspingDexterous manipulation & regraspingJ.W. Hong, G. Lafferriere, B. Mishra, and X.L. TJ.W. Hong, G. Lafferriere, B. Mishra, and X.L. T

ang. Fine manipulation with multifinger handang. Fine manipulation with multifinger hand,, 11990990..Regrasping with 3 and 4 fingersRegrasping with 3 and 4 fingersFinger gaitingFinger gaitingCurved objectCurved object

L. Han and J.C. Trinkle. Dextrous manipulation L. Han and J.C. Trinkle. Dextrous manipulation by rolling and finger gaiting, by rolling and finger gaiting, 1998.1998.General framework for dexterous manipulationGeneral framework for dexterous manipulationFinger rolling and gaitingFinger rolling and gaitingSpherical objectSpherical object

Related worksRelated works

Dexterous manipulation & regraspingDexterous manipulation & regraspingT. Omata and K. Nagata. Planning T. Omata and K. Nagata. Planning

reorientation of an object with a multifingered reorientation of an object with a multifingered handhand, 1994., 1994.4-fingered hand4-fingered handPolygonal objectPolygonal objectSearch treeSearch treeLinear and non-linear programmingLinear and non-linear programming

Grasping

Finger & contact

Friction cone

Equilibrium Force closure

3-Fingered grasp

Necessary & sufficient

Sufficient

Positively span

- Positively span

Concurrent grasp

Stable grasp

Grasp and frictionGrasp and friction

Hard fingersHard fingersCoulomb friction at contact pointsCoulomb friction at contact points

fnfn

ftx

fty

ftx

mz

fn

(a) (b) (c)

Grasp and frictionGrasp and friction

f f < |< |nn|| = tan= tan-1 -1 (())Force at contact points lie in friction coneForce at contact points lie in friction cone

f

n

Equilibrium and force closureEquilibrium and force closure

Equilibrium graspEquilibrium graspForce closure graspForce closure grasp

Force closure graspForce closure graspEquilibrium graspEquilibrium grasp?

Condition for graspingCondition for grasping

A set of vectors positively span A set of vectors positively span nn if any if any vector in vector in n n can be written as a positive can be written as a positive combination of the given vectors.combination of the given vectors.

u1

u3

u2

Condition of graspingCondition of grasping

u1

u3

u2

u1

u3

u2

three-finger equilibrium grasp

Necessary and sufficient conditionNecessary and sufficient condition

Condition for graspingCondition for grasping

- positively span - positively span 2 2

LetLet CCii ((ii = 1,2,3) = 1,2,3) be the cones centered onbe the cones centered on aaii with half-with half-

angleangle . We say that the three vectors . We say that the three vectors aaii ( (ii = 1,2,3) = 1,2,3) - -

positively span positively span 22 when any triple of vectorswhen any triple of vectors vvii CCii ((ii

= 1,2,3) = 1,2,3) positively spanpositively span 22..

a2

a3

a1

C1

C2

C3

Condition for graspingCondition for grasping

Sufficient conditionSufficient condition

a1

a3

a2

three-finger equilibrium grasp

a2

C1

C2

C3

a1

a3

“concurrent grasp”

ThesisThesis

New approachNew approachSwitching graphSwitching graphFinger switchingFinger switchingFinger aligningFinger aligning

Regrasping

Switching graph

Finger switchingFinger aligning

Node Edge

Set of concurrent grasp

“Focus cell”

Overlapping Focus cell

Represent a set of grasps by a point in the plane

Switching graphSwitching graph

Point in the plan can represent a set of Point in the plan can represent a set of grasps.grasps.

Independent contact regionIndependent contact region

Ea Ea(a) (b)

.

EbEc

Ea

Eb

x0 x0

xc

xa

xb

EbEcEc

Switching graphSwitching graph

Focus cellFocus cell

Ea

EbEc

Ea

a

b

c

d

Switching graphSwitching graph

a,b,c a,b,d

ScopeScope

Regrasp Planning for a 4-Fingered Hand Manipulating Regrasp Planning for a 4-Fingered Hand Manipulating a Polygona Polygon Concurrent graspConcurrent grasp Switching graphSwitching graph

Optional scopeOptional scope Two-finger force closure graspTwo-finger force closure grasp Parallel graspParallel grasp

Completed worksCompleted works

Study works in grasping and regrasping.Switching graph for concurrent grasp. Implement in C++ with LEDA.

Completed worksCompleted works

Publication A. Sudsang and T. Phoka. Regrasp planning for a 4-fi

ngered hand manipulating a polygon. IEEE Int. Conf. on Robotics and Automation, pp. 2671 – 2676. Taipei, 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, pp. 3674 – 3679. Las Vegas, 2003.

Ongoing worksOngoing works

Design the switching grasp Design the switching grasp Two-finger force closure graspTwo-finger force closure grasp Parallel graspParallel grasp

ExperimentExperiment Writing a thesisWriting a thesis

BenefitBenefit

New approach for regraspingNew approach for regrasping

Thank youThank you