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1、RobotGraspPlanningusingParallelSamplingtoEstimateUncertaintyinPose,Shape,andMechanicsMelissaGoldsteinEdwardLeeFrankOngJoshGoldbergLelaiZhouBenKehoeKenGoldbergUCBerkeleySummaryMotivationRelatedWorkProblemStatementSamplingPreliminaryResultsFutureWorkWillowGaragePR2MobileBas
2、eCameras,Lidar2ArmsBackdrivableforSafetyLowPrecision2Parallel-JawGrippersHolding:RigidpartsContactMechanics:Numberofcontacts[Reuleaux,1876],[Somoff,1900][Mishra,Schwarz,Sharir,1987],[Nguyen,1988][Markenscoff,Papadimitriou,1990][Han,Trinkle,Li,1999]Immobility,2ndOrderFormC
3、losure[Rimon,Burdick,1995,1998][Ponce,Burdick,Rimon,1995][Mason,2001]Holding:Rigidparts+-+-++--Summariesofresults[Bicchi,Kumar,2000][Mason,2001]GraspRegions[vanderStappenetal,2002]CagingGrasps[Rimon,Blake,1999][vanderStappen2009],[Rodriguez,Mason2010]Parallel-JawGripPoint
4、s(1999)RelatedWork:Mason’sRuleLineofpushingandtheedgesofthefrictioncone“vote”todeterminewhichwaytheobjectwillrotateWewanttheworkpiecetorotateinadirectionthat willresultinalignment withthegripperedgeMatthewT.Mason,MechanicsofRoboticManipulation,MITPress:Cambridge,MA.2001.S
5、tablePushGraspsStablepushgrasps(SPGs)satisfythefollowingconditionsafterthegrippercontactstheworkpieceandcontinuespushing:Theworkpiecepurelyrotatesaboutthecontactpoint(noslipping)Theworkpiecerotatestowardstabilityonthegripperface(becomesalignedwiththegripper)Thesecondgripp
6、erachievesforceclosureProblemStatementAssume:PartonWorksurfacePlanarProjectionsofPartandGripperPlanar,Quasi-staticMotionGiven:Nominal2DPolygonalPartCenterofmassShape,CenterofMassLowerBoundonFrictionUncertaintyin:RelativePoseCenterofmassShapeProblemStatementPerturbationsin
7、:RelativePoseCenterofmassShapePushMotionApproach:StablePushGraspsPositionJawsMakeInitialcontactwithVertexofJaw1StablePushwithJaw1toAlignEdgesCloseGripperContactwithJaw2FailureModesFirstgrippermissesworkpieceFailureModes2.Grippercontactsoutsidefrictioncone(slip)FailureMode
8、s3.GrippercontactswithtoolargeananglefortheworkpiecetomaintainstickingaftersomerotationFailureMo
