Constructing force-closure grasps
International Journal of Robotics Research
Introduction to Algorithms
Manipulation planning on constraint manifolds
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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This paper addresses the planning problem of object manipulation using wheeled-tip robots considering the wheel-object contact positioning error. The term wheeled-tip refers to a new mechanism that incorporates active wheels at robot's fingertips and allows the grasp contact-point to move along the object's surface. The benefits of unlimited rolling contact is achieved at the cost of contact positioning error that may cause the manipulation to fail. We propose a probabilistic based algorithm for robot motion planning that in addition to being collision free, guarantees the stability of the grasp throughout the planned path. To do so, first we introduce an algorithm that ensures the kinematical stability of the grasp during manipulation by respecting the force closure constraint. Further we extend the algorithm to address the practical uncertainties involved in the position of wheel-object contact points. The proposed algorithms can be employed for manipulators with limited rolling contacts, as well. The algorithms have been tested and the results prove that the planned path can be trusted in uncertain situations.