Dual asymmetric limit surfaces and their applications to planar manipulation

IF 3.7 3区计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Autonomous Robots Pub Date : 2024-10-01 DOI:10.1007/s10514-024-10173-5

Xili Yi, An Dang, Nima Fazeli

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引用次数: 0

Abstract

In this paper, we present models and planning algorithms to slide an object on a planar surface via frictional patch contact made with its top surface, whether the surface is horizontal or inclined. The core of our approach is the asymmetric dual limit surfaces model that determines slip boundary conditions for both the top and support patch contacts made with the object. This model enables us to compute a range of twists that can keep the object in sticking contact with the robot end-effector while slipping on the supporting plane. Based on these constraints, we derive a planning algorithm to slide objects with only top contact to arbitrary goal poses without slippage between end effector and the object. We fit the proposed model and demonstrate its predictive accuracy on a variety of object geometries and motions. We also evaluate the planning algorithm over a variety of objects and goals, demonstrating an orientation error improvement of 90% when compared to methods naive to linear path planners. For more results and information, please visit https://www.mmintlab.com/dual-limit-surfaces/.

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双非对称极限表面及其在平面操纵中的应用

在本文中，我们提出了通过与物体顶面的摩擦贴片接触在平面上滑动物体的模型和规划算法，无论该平面是水平的还是倾斜的。我们方法的核心是非对称双极限表面模型，该模型确定了与物体顶面和支撑面接触的滑动边界条件。通过该模型，我们可以计算出一定范围的扭转，使物体与机器人末端执行器保持粘着接触，同时在支撑平面上滑动。基于这些约束条件，我们推导出了一种规划算法，可以在末端执行器与物体之间不发生滑动的情况下，仅通过顶部接触将物体滑动到任意目标位置。我们对提出的模型进行了拟合，并证明了其对各种物体几何形状和运动的预测准确性。我们还对各种物体和目标的规划算法进行了评估，结果表明，与线性路径规划方法相比，规划算法的方向误差提高了 90%。更多结果和信息，请访问 https://www.mmintlab.com/dual-limit-surfaces/。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Autonomous Robots 工程技术-机器人学

CiteScore

7.90

自引率

5.70%

发文量

审稿时长

3 months

期刊介绍： Autonomous Robots reports on the theory and applications of robotic systems capable of some degree of self-sufficiency. It features papers that include performance data on actual robots in the real world. Coverage includes: control of autonomous robots · real-time vision · autonomous wheeled and tracked vehicles · legged vehicles · computational architectures for autonomous systems · distributed architectures for learning, control and adaptation · studies of autonomous robot systems · sensor fusion · theory of autonomous systems · terrain mapping and recognition · self-calibration and self-repair for robots · self-reproducing intelligent structures · genetic algorithms as models for robot development. The focus is on the ability to move and be self-sufficient, not on whether the system is an imitation of biology. Of course, biological models for robotic systems are of major interest to the journal since living systems are prototypes for autonomous behavior.