NDLI: Push-grasping with dexterous hands: Mechanics and a method

Content Provider	IEEE Xplore Digital Library
Author	Dogar, M.R. Srinivasa, S.S.
Copyright Year	2010
Description	Author affiliation: Intel Labs Pittsburgh, 4720 Forbes Ave., Suite 410, PA - 15213, USA (Srinivasa, S.S.) \|\| The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave., Pittsburgh, PA - 15213, USA (Dogar, M.R.)
Abstract	We add to a manipulator's capabilities a new primitive motion which we term a push-grasp. While significant progress has been made in robotic grasping of objects and geometric path planning for manipulation, such work treats the world and the object being grasped as immovable, often declaring failure when simple motions of the object could produce success. We analyze the mechanics of push-grasping and present a quasi-static tool that can be used both for analysis and simulation. We utilize this analysis to derive a fast, feasible motion planning algorithm that produces stable pushgrasp plans for dexterous hands in the presence of object pose uncertainty and high clutter. We demonstrate our algorithm extensively in simulation and on HERB, a personal robotics platform developed at Intel Labs Pittsburgh.
Starting Page	2123
Ending Page	2130
File Size	2546203
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652970
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Robots Grasping Clutter Apertures Planning Friction
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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