Generalized grasping and manipulation
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Generalized Grasping and Manipulation. Robert Platt Jr., Andrew Fagg, Roderic Grupen 5/25/2005. Laboratory for Perceptual Robotics University of Massachusetts Amherst. Motivation: Human Grasps.

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Generalized grasping and manipulation

Generalized Grasping and Manipulation

Robert Platt Jr., Andrew Fagg, Roderic Grupen

5/25/2005

Laboratory for Perceptual Robotics

University of Massachusetts Amherst


Generalized grasping and manipulation

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


Outline

Outline

  • Grasp control

  • Control-based dexterous manipulation

  • Transport and grasp schemas (skills)


Generalized grasping and manipulation

Opposition Space

from The Grasping Hand, C. MacKenzie, T. Iberall, Springer, 1994


Contact parameterization of grasp

Contact Parameterization of Grasp

1,2,3

f

palm, fingertips

grasp

1,2,3

f

grasp

palm, fingertips

left, right

f

grasp

left, right

left

f

grasp

left, gravity

Platt, R., Fagg, A., Grupen R., 2003


Grasp control

f

grasp

Grasp Control:

Grasp artificial potential displaces contacts to descend wrench-closure error function:

Coelho, J., Grupen, R., 1997; Platt, R., Fagg, A., Grupen R., 2002


Sliding grasp control video

Sliding Grasp Control Video

f

f

f

Sliding Grasp Controller:

g

k

f


Four control primitives

f

f

f

f

f

m

k

g

Four Control Primitives

grasp control

collision free motion

kinematic conditioning

force control


Generalized grasping and manipulation

Combining Control Primitives

Carry:

f

f

f

f

m

k

f

g

Grasp:

f

f

f

g

k

f

Platt, R., Fagg, A., Grupen R., 2004


Controller equivalence classes common suffix

Controller Equivalence Classes: Common Suffix

common suffix

f

f

f

f

m

k

f

g

f

f

f

f

k

k

f

g

f

f

f

f

g

k

f

g

Platt, R., Fagg, A., Grupen R., 2004


Generalized grasping and manipulation

Experiment: Transport Schema


Schematic transport skill

Schematic Transport Skill


Schematic grasp skills

Schematic Grasp Skills


Definition of schema

Definition of Schema

The Action Schema defines:

  • “Abstract” states and actions

  • A deterministic policy through the abstract space to the schema goal

  • 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?


Localize reach grasp

Localize-Reach-Grasp

P(transition |

blob parameters)


Reach primitives

Reach Primitives

Position

Orientation


Pilot results

Pilot Results


Pilot results learning curves

Pilot Results: Learning Curves

(results averaged over three experiments.)


Pilot results frictional surface

Pilot Results: Frictional Surface


Generalized grasping and manipulation

Pilot Results: Bagging Groceries


Generalized grasping and manipulation

Pilot Results: Bagging Groceries


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