3D Multifingered Caging and Partial Caging SATOSHI MAKITA (SASEBO NATIONAL COLLEGE OF TECHNOLOGY)
Outline
2
3D multifingered caging Motivation Classification
Sufficient
conditions
Planning
and Experiments
Partial caging Motivation Partial
caging by a prosthetic hand
3D Multifingered Caging
3
Motivation - beginning of 3D caging
Variation of 2D caging by multiple robots Caging
an object by two fingertips [Rimon 1996] Caging by three fingertips [Erickson 2003] Caging a concave object [Pipattanasomporn 2006] Caging manipulation by mobile robots [Wang 2002]
4
Motivation - beginning of 3D caging
3D caging by fingertips More
than three dimensional caging by multiple pointed fingers [Pipattanasomporn 2007]
-> Expansion to “real” linked robot hands (fingers)
5
Motivation - beginning of 3D caging
Caging by a multifingered robot hand Applicable
to real robot hands
6
Motivation - beginning of 3D caging
Related works Caging
grasps by a humanoid robot [Diankov 2008]
Grasping
objects with holes [Pokorny 2013]
Caging-based
[Maeda 2012]
grasping
7
Classification of caging patterns
Envelope-type Caging -> Sphere A
robot hand surrounds the object
8
Classification of caging patterns
Ring-type Caging -> Ring The
fingers of the hand are inserted to the hollow of the object
9
Classification of caging patterns
Waist-type Caging -> Dumbbell The
fingers are wound around the constricted part of the object
10
How to cage an object by a hand?
11
Problems Formulation Linked
->
robot ->
Sufficient conditions collisions Free C-Space
C-Obstacle
Difficult! Impossible to escape
[In the Real World]
Impossible to escape [In the Object C-Space]
Sufficient conditions - Caging a sphere
Sphere cannot escape from every face among robot fingers Trapezoid
face between finger bodies
Polygonal
face composed of fingertips
12
Sufficient conditions - Caging a sphere
Trapezoid face between bodies of robot finger
(dj: distance between j-th joints)
Polygonal face composed of fingertips
(rc: distance between fingertip and center axis)
13
Sufficient conditions - Caging a disk
Disk (circular plate)
Radius: rdisk
Thickness: tdisk
Robot Hand
N fingers
Disk cannot escape between robot fingers
Between joints or joint and fingertip
Between fingertips
14
Sufficient conditions - Caging a disk
Between each joint and/or each fingertip
(dijkl: Distance between jth joint of ith finger and lth body of kth finger)
Between fingertips
15
Sufficient conditions - Caging a ring
16
A ring-like object cannot escape between fingertips p11
p21
Ring
Finger
p2j
Finger
p1j
p2,L+1 Sobj
p1,L+1
Sufficient conditions - Caging a dumbbell The constricted part cannot escape from the gap between fingertips The constricted part goes through the hollow region of the hand The disk-shaped part cannot escape from the ring-formed hand
17
Caging a Complex-shaped Object
18
Using simple shapes as shape primitives
Approximate by an inscribed simple-shaped object
Approximate by a combination of simpleshaped objects
Stamp tool -> a sphere and a disk
3D multifingered caging - Goal configurations -
19
3D multifingered caging - Goal configurations
Caging a stamp (sphere and disk)
20
3D multifingered caging - Motion planning -
21
3D multifingered caging by an arm/hand system
22
3D multifingered caging by an arm/hand system
23
Caging by a prosthetic hand (Simulation)
24
Caging by a prosthetic hand (in actual)
25
Partial caging ONGOING PROJECTS
Motivation - Why “partial” caging?
27
Difficulty to achieve “complete” caging Low
degrees of freedom
Relative
size between the object and the hand
Many robots…
Many fingers…
Motivation - Why “partial” caging?
To constraint the object in the incomplete cage as far as possible
28
Motivation - Why “partial” caging?
29
Related works Tests
of partial cage quality [Makapunyo 2013] By path searching
Gravity
caging [Jiang 2012]
Gravitational force
Partial caging by a prosthetic hand
30
Partial caging by a prosthetic hand
31
Conclusion
32
3D multifingered caging Derivation Motion
of sufficient conditions
planning
Introduction (Complete
of partial caging
or partial) caging for prosthetic hands
References
33
http://www.sasebo.ac.jp/~makita/ S. Makita et al.: “3D Two-Fingered Caging for Two Types of Objects: Sufficient Conditions and Planning,” Int. J. of Mechatronics and Automation, (to appear) S. Makita et al.: ”Geometrical constraint in Graping,” IROS Workshop: Beyond Robot Grasping - Modern Approaches for Learning Dynamic Manipulation, 2012. S. Makita et al.: “Motion Planning for 3D multifingered Caging with Object Recognition using AR Picture Markers,'' IEEE ICMA, 2158-2164, 2012. S. Makita and Y. Maeda: ”3D Multifingered Caging: Basic Formulation and Planning,” IEEE/RSJ IROS, 2697-2702, 2008.
design and fabrication of the soft gripper used in the experiment. 1T. Kwok and Y. Chen .... Although the topology analysis based on a topological loop has been ...
lead to a smart method for caging/grasping 3D objects. For a rope L stored as ..... ping,â in IEEE International Conference on Robotics and Automation,. 2013, pp.
parts of a robot hand and simultaneously grasping by soft parts ... analysis. Caging is another method to constrain objects. It makes an object inescapable from ...
results from SwarmControl.net, an online game where players steer swarms of up to ... test scenarios involving large-scale human-swarm interaction. A. Becker is with .... We kept the total area, maximum robot speed, and sum force the swarm.
(Trade costs, Rose 2002; financial crises, Reinhart and Rogoff 2010; lawsuits and sanctions ... partial recovery of those debts. Arellano, Mateos-Planas ... Public debt data from World Development Indicators: debt in arrears and new loans.
Jul 24, 2014 - markets, social and family networks, labor supply, and welfare ...... 19862006 Child Data and 19942006 Young Adult Dataâ, Center for Human ...
2000. 2010 year. Partial Def aults. Across all S&P default : countries default on average on 59% of what is due. ..... Recursive Problem: Borrower. State: (z,A,y).
clinical endpoint. â no biomarker available. â related compounds: response rate in children similar to adults. Rationale for Extrapolation in POS in children.
The partial order model is useful for data domains that involve containment or dependency .... looking for a unifying model, and became interested in domain-.
on the current definition of controllability of nondeterministic discrete-event systems, which ..... We define for each case a separate partial bisimulation relation R.
on the current definition of controllability of nondeterministic discrete-event systems, which ... Thus, the supervisor must always comply with the plant by synchro-.
the relationships between types or classes of objects, but between instances of ...... If the predi- cate returns true, then A can be represented by a minimal realizer.
Feb 19, 2009 - ... 2007 Google, Inc. Licensed under a Creative Commons. AttributionâShareAlike 2.5 License (http://creativecommons.org/licenses/by-sa/2.5/).
torea #5 - 5 minutes practice Quiz actividaci 1-digital workbook provecto - PET examen - primer parcial imanual - digital portfolio lectura 1.read a book on hand.
Jan 20, 2012 - not care for it and the notion of willingness to pay for it does not make sense ... In the limit, willingness to pay for a commodity is established as a.
The University of Waterloo requires the signatures of all persons using or photo- copying this thesis. ..... used to speed up digital signature generation as well.
There was a problem loading this page. Lecture 21 - Ideal solutions and partial molar quantities.pdf. Lecture 21 - Ideal solutions and partial molar quantities.pdf.
interpreted as, say, an interest rate or an exchange rate, or as a vector of many dimensions, with .... the time and savings deposits of those banks. Both types of ...
