论文标题
通过触点配置法规操纵未知对象
Manipulation of unknown objects via contact configuration regulation
论文作者
论文摘要
我们提出了一种通过调节对象的触点配置来对未知对象进行机器人操作的方法：对象，机器人和环境之间所有接触的位置，几何和模式。触点配置限制了可以应用于对象的力和运动。但是，综合这些约束通常需要了解对象的姿势和几何形状。我们开发了一种估算和控制对象的方法，以规避这一需求。我们的框架直接估计了一组扳手和运动约束，用于调节触点配置。我们用它来反应地操纵重力平面中未知的平面对象。一个描述我们工作的视频可以在我们的项目页面上找到：http：//mcube.mit.edu/research/contactconfig.html。
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrains the forces and motions that can be applied to the object; however, synthesizing these constraints generally requires knowledge of the object's pose and geometry. We develop an object-agnostic approach for estimation and control that circumvents this need. Our framework directly estimates a set of wrench and motion constraints which it uses to regulate the contact configuration. We use this to reactively manipulate unknown planar objects in the gravity plane. A video describing our work can be found on our project page: http://mcube.mit.edu/research/contactConfig.html.
