Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks

J. Zachary Woodruff; Kevin M. Lynch

doi:10.1109/ICRA.2017.7989467

Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks

J. Zachary Woodruff, Kevin M. Lynch

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Scopus citations

Abstract

In this paper we propose a method for motion planning and feedback control of hybrid, dynamic, and non-prehensile manipulation tasks. We outline five subproblems to address this: determining a set of manipulation primitives, choosing a sequence of tasks, picking transition states, motion planning for each individual primitive, and stabilizing each mode using feedback control. We apply the framework to plan a sequence of motions for manipulating a block with a planar 3R manipulator. We demonstrate preliminary experimental results for a block resting on the manipulator with a desired goal state on a ledge outside of the robot's workspace. The planned primitives reorient the block using a series of fixed, rolling, and sliding contact modes, and throw it to the goal state.

Original language	English (US)
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4066-4073
Number of pages	8
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989467
State	Published - Jul 21 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: May 29 2017 → Jun 3 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country	Singapore
City	Singapore
Period	5/29/17 → 6/3/17

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2017.7989467

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Woodruff, J. Z., & Lynch, K. M. (2017). Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 4066-4073). [7989467] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989467

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Woodruff, JZ & Lynch, KM 2017, Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989467, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4066-4073, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989467

Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks. / Woodruff, J. Zachary; Lynch, Kevin M.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4066-4073 7989467 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Woodruff JZ, Lynch KM. Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4066-4073. 7989467. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2017.7989467