GRASP PLANNING UNDER TASK-SPECIFIC CONTACT CONSTRAINTS

Transcription

1 PH.D. DISSERTATION GRASP PLANNING UNDER TASK-SPECIFIC CONTACT CONSTRAINTS PH.D. CANDIDATE: CARLOS J. ROSALES GALLEGOS SUPERVISORS: LLUÍS ROS AND RAÚL SUÁREZ JANUARY 2013

2 ROBOTIC GRASPING AND MANIPULATION 2 / 56

3 ROBOTIC GRASPING AND MANIPULATION 2 / 56

4 ROBOTIC GRASPING AND MANIPULATION 2 / 56

5 ROBOTIC GRASPING AND MANIPULATION 2 / 56 [SALISBURY AND CRAIG, 1982]

6 ROBOTIC GRASPING AND MANIPULATION 2 / 56 [SALISBURY AND CRAIG, 1982] DABO (IRI) REEM (PAL ROBOTICS) ASIMO (HONDA) ROBONAUT (NASA)

7 GRASPING FOR PICK-N-PLACE OPERATIONS 3 / 56 STARFISH GRABBER (TECH. UNIV. BERLIN) UNIVERSAL ROBOTIC GRIPPER (CORNELL UNIV.)

8 GRASPING FOR DEXTEROUS MANIPULATION 4 / 56 SHADOW HAND DLR HAND

9 THE PRICE IS THE COMPLEXITY UP TO 40 ACTUATORS ABOUT 15 ENCODERS ABOUT 15 TACTILE SENSORS SCHUNK HAND 5 / 56

10 THE PRICE IS THE COMPLEXITY UP TO 40 ACTUATORS ABOUT 15 ENCODERS ABOUT 15 TACTILE SENSORS CHALLENGES PROPER MECHATRONIC DESIGN LIGHTWEIGHT SENSORS AND ACTUATORS PLANNING AND CONTROL OF FORCES/MOTIONS SCHUNK HAND 5 / 56

11 THE GRASP PLANNING PROBLEM 6 / 56

12 THE GRASP PLANNING PROBLEM 6 / 56

13 REQUIREMENT 1: ABILITY TO GENERATE TASK-SPECIFIC GRASPS 7 / 56

14 REQUIREMENT 2: ABILITY TO DEAL WITH DIFFERENT HANDS AND CONTACT PATTERNS 8 / 56

15 A DIVIDE-AND-CONQUER STRATEGY 9 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING

16 A DIVIDE-AND-CONQUER STRATEGY 10 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING

17 RELATED WORK 11 / 56 INITIAL APPROACHES CONTACT LOCATION SYNTHESIS [NGUYEN, 1988; ROA AND SUAREZ, 2009;...] QUANTITATIVE MEASURES [FERRARY AND CANNY, 1992; TRINKLE, 1992;...]

18 RELATED WORK 11 / 56 INITIAL APPROACHES CONTACT LOCATION SYNTHESIS [NGUYEN, 1988; ROA AND SUAREZ, 2009;...] QUANTITATIVE MEASURES [FERRARY AND CANNY, 1992; TRINKLE, 1992;...]

19 RELATED WORK 12 / 56 INITIAL APPROACHES CURRENT APPROACHES CONTACT LOCATION SYNTHESIS [NGUYEN, 1988; ROA AND SUAREZ, 2009;...] QUANTITATIVE MEASURES [FERRARY AND CANNY, 1992; TRINKLE, 1992;...] HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] EXAMPLE: GRASPIT!

20 RELATED WORK 13 / 56 ITIAL APPROACHES CURRENT APPROACHES NTACT LOCATION SYNTHESIS YEN, 1988; ROA AND SUAREZ, 2009;...] ANTITATIVE MEASURES RARY AND CANNY, 1992; TRINKLE, 1992;...] HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] CONTAC GEOMET EXAMPLE: GRASPIT!

21 RELATED WORK 13 / 56 APPROACHES CURRENT APPROACHES OUR A OCATION SYNTHESIS ROA AND SUAREZ, 2009;...] IVE MEASURES CANNY, 1992; TRINKLE, 1992;...] HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] CONTACT CONS GEOMETRY ARE EXAMPLE: GRASPIT!

22 RELATED WORK 13 / 56 ACHES CURRENT APPROACHES OUR APPROA N SYNTHESIS UAREZ, 2009;...] ASURES 2; TRINKLE, 1992;...] HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] CONTACT CONSTRAINT GEOMETRY ARE CONSID EXAMPLE: GRASPIT!

23 RELATED WORK 13 / 56 CURRENT APPROACHES OUR APPROACH HESIS 9;...], 1992;...] HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] CONTACT CONSTRAINTS AND H GEOMETRY ARE CONSIDERED EXAMPLE: GRASPIT!

24 RELATED WORK 13 / 56 CURRENT APPROACHES OUR APPROACH HEURISTICS FOR THE WRIST AND PRESHAPING THE HAND [CIOCARLIE AND ALLEN, 2009; HUEBNER AND KRAGIC, 2008;...] CONTACT CONSTRAINTS AND HAND GEOMETRY ARE CONSIDERED EXAMPLE: GRASPIT!

25 14 / 56 GRASP SYNTHESIS FINDING GRASP CONFIGURATIONS OPTIMIZING GRASP CONFIGURATIONS ACCOUNTING FOR COMPLIANCE

26 FINDING GRASP CONFIGURATIONS 15 / 56

27 FINDING GRASP CONFIGURATIONS 15 / 56

28 CONTACT CONSTRAINT 16 / 56 REGIONS ARE BÉZIER PATCHES THAT CONTACT AT A POINT WITH NORMAL VECTORS ALIGNED

29 JOINT ASSEMBLY CONSTRAINTS 17 / 56 ROBOT HANDS INVOLVE REVOLUTE JOINTS

30 JOINT ASSEMBLY CONSTRAINTS 17 / 56 ROBOT HANDS INVOLVE REVOLUTE JOINTS

31 JOINT ASSEMBLY CONSTRAINTS 17 / 56 ROBOT HANDS INVOLVE REVOLUTE JOINTS

32 JOINT ASSEMBLY CONSTRAINTS 17 / 56 ROBOT HANDS INVOLVE REVOLUTE JOINTS

33 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0

34 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

35 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

36 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

37 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

38 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

39 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

40 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

41 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

42 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

43 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

44 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

45 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

46 A SUBTLE FORMULATION FOR KINEMATICS 18 / 56 CONTACT CONSTRAINTS JOINT ASSEMBLY CONSTRAINTS } Φ(q) = 0 A BRANCH-AND-PRUNE TECHNIQUE q i LINEAR q 2 i,q i q j QUADRATIC f(q i,q j ) BERNSTEIN-FORM

47 PRUNE BOX OPERATION 19 / 56 B c q i

48 PRUNE BOX OPERATION 19 / 56 B c q i

49 PRUNE BOX OPERATION 19 / 56 B c q i

50 PRUNE BOX OPERATION 19 / 56 B c q i

51 PRUNE BOX OPERATION 19 / 56 B c q i

52 EXAMPLES: UP TO 330 VARS AND 320 EQS 20 / 56 # CONTACTS TASKS UPHOLDING HANDLING INCISION SOLUTIONS TASKS LID LIFTING SERVICE TRANSPORTATION SOLUTIONS TASKS TUNNING PLAYING HOLDING SOLUTIONS

53 OPTIMIZING GRASP CONFIGURATIONS 21 / 56 BAD GRASP

54 OPTIMIZING GRASP CONFIGURATIONS 21 / 56 GOOD GRASP

55 MANIFOLD OF KINEMATICALLY-FEASIBLE GRASPS 22 / 56 OBJECT SPACE HAND SPACE

56 HAND POSTURAL SYNERGIES 23 / 56 OBJECT SPACE HAND SPACE

57 HAND POSTURAL SYNERGIES 23 / 56 OBJECT SPACE HAND SPACE

58 MANIFOLD OF RELEVANT GRASPS 24 / 56 OBJECT SPACE HAND SPACE

59 MANIFOLD OF RELEVANT GRASPS 24 / 56 OBJECT SPACE HAND SPACE

60 DIMENSION DEPENDS ON SYNERGIES CONSIDERED 25 / 56 OBJECT SPACE HAND SPACE

61 DIMENSION DEPENDS ON SYNERGIES CONSIDERED 25 / 56

62 DIMENSION DEPENDS ON SYNERGIES CONSIDERED 25 / 56

63 THE CONTINUATION TECHNIQUE 26 / 56

64 FIRST CHART CONSTRUCTION 27 / 56

65 POINT SELECTION 28 / 56

66 PROJECTION OF POINT ONTO THE MANIFOLD 29 / 56

67 SECOND CHART CONSTRUCTION 30 / 56

68 CHART COORDINATION 31 / 56

69 UNTIL THE MANIFOLD IS COVERED: AN ATLAS 32 / 56

70 UNTIL THE MANIFOLD IS COVERED: AN ATLAS 32 / 56

71 UNTIL THE MANIFOLD IS COVERED: AN ATLAS 32 / 56

72 UNTIL THE MANIFOLD IS COVERED: AN ATLAS 32 / 56

73 QUALITY INDEX EVALUATION USING THE ATLAS 33 / 56

74 QUALITY INDEX EVALUATION USING THE ATLAS 33 / 56 BEST

75 PLANAR HAND EXAMPLE 34 / 56 ATLAS BEST WORST MANIPULABILITY [BICCHI AND PRATTICHIZZO, 2000]

76 PLANAR HAND EXAMPLE 34 / 56 ATLAS BEST WORST FORCE CLOSURE [PRATTICHIZZO AND TRINKLE, 2008] MANIPULABILITY [BICCHI AND PRATTICHIZZO, 2000]

77 PLANAR HAND EXAMPLE SERIAL COMBINATION 35 / 56 FORCE CLOSURE

78 PLANAR HAND EXAMPLE SERIAL COMBINATION 35 / 56 FORCE CLOSURE MANIPULABILITY

79 PLANAR HAND EXAMPLE SERIAL COMBINATION 35 / 56 FORCE CLOSURE MANIPULABILITY BEST

80 SCHUNK HAND EXAMPLE MANIPULABILITY INDEX 36 / 56 ATLAS BEST WORST SCREWDRIVER SODA CAN

81 SCHUNK HAND EXAMPLE SERIAL COMBINATION 36 / 56 ATLAS BEST

82 ACCOUNTING FOR COMPLIANCE IN THE GRASP 37 / 56 COMPLIANT CONTACTS COMPLIANT ACTUATION SCHUNK HAND THE FIRST HAND

83 COMPLIANCE AT THE CONTACT 38 / 56

84 COMPLIANCE AT THE JOINTS 38 / 56

85 FIND A PROPER COMPLIANT GRASP 38 / 56 CONSTRAINTS: 1 KIN. FEASIBILITY 2 PREHENSILITY

86 FIND A PROPER COMPLIANT GRASP 38 / 56 CONSTRAINTS: 1 KIN. FEASIBILITY 2 PREHENSILITY FORCE EQUILIBRIUM GKP T δx = 0

87 FIND A PROPER COMPLIANT GRASP 38 / 56 CONSTRAINTS: 1 KIN. FEASIBILITY 2 PREHENSILITY FORCE EQUILIBRIUM GKP T δx = 0 FRICTION CONE KP T δx C

88 FIND A PROPER COMPLIANT GRASP 38 / 56 CONSTRAINTS: 1 KIN. FEASIBILITY 2 PREHENSILITY FORCE EQUILIBRIUM GKP T δx = 0 FRICTION CONE KP T δx C FORCE CONTROL K qδq = J T PKP T δx

89 FIND A PROPER COMPLIANT GRASP 38 / 56 CONSTRAINTS: 1 KIN. FEASIBILITY 2 PREHENSILITY FORCE EQUILIBRIUM GKP T δx = 0 FRICTION CONE KP T δx C FORCE CONTROL K qδq = J T PKP T δx TORQUE LIMITS K qδq [τ l,τ u ]

90 OPTIMALITY CRITERION 39 / 56 MINIMIZE: Ψ(q) = 1 2 δqt K qδq THE POTENTIAL ENERGY OF SPRINGS AT THE JOINTS

91 A CONSTRAINED OPTIMIZATION PROBLEM 40 / 56 arg min q Ψ(q) subject to: M eq (q) = 0 M ineq (q) 0 THE SOLUTION USES A SEQUENTIAL QUADRATIC PROGRAMMING TECHNIQUE STARTS FROM A GOOD CONFIGURATION PROVIDED, E. G., BY THE PREVIOUS GRASP OPTIMIZATION METHOD

92 EXAMPLE OF A GRASP WITH A REAL HAND 41 / 56 INITIAL KIN. FEASIBLE PREHENSILE

93 A DIVIDE-AND-CONQUER STRATEGY 42 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING

94 A DIVIDE-AND-CONQUER STRATEGY 43 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING

95 RELATED WORK TREND: INCREASE THE COMPLEXITY OF THE SYSTEM 44 / 56 [LOZANO-PEREZ ET.AL, 1989] [POLLARD, 1990] [BERENSON AND SRINIVASA, 2008] [VAHRENKAMP ET.AL, 2012]

96 RELATED WORK PREVIOUS STRATEGIES VS OURS 45 / 56 GLOBAL PLANNER C 1 LOCAL PLANNER CLOSE HOME C 0 C 2 C 3 GRASP

97 RELATED WORK PREVIOUS STRATEGIES VS OURS 45 / 56 HOME C 0 GLOBAL PLANNER C 1 LOCAL AAPTIVE PLANNER PLANNER CLOSE C 2 C 3 GRASP

98 A PRM-BASED PLANNER 46 / 56

99 A PRM-BASED PLANNER 46 / 56

100 A PRM-BASED PLANNER 46 / 56

101 A PRM-BASED PLANNER 46 / 56

102 A PRM-BASED PLANNER 46 / 56

103 A PRM-BASED PLANNER 46 / 56

104 A PRM-BASED PLANNER 46 / 56

105 THE HAND-ARM CONFIGURATION SPACE 47 / 56 ARM SPACE DIMENSION: 6-7

106 THE HAND-ARM CONFIGURATION SPACE 47 / 56 ARM SPACE DIMENSION: 6-7 HAND SPACE DIMENSION: 12-20

107 THE HAND-ARM CONFIGURATION SPACE 47 / 56 ARM SPACE DIMENSION: 6-7 SAMPLING STRATEGY USING WRIST ORIENTATION CONSTRAINTS HAND SPACE DIMENSION: 12-20

108 THE HAND-ARM CONFIGURATION SPACE 47 / 56 ARM SPACE DIMENSION: 6-7 SAMPLING STRATEGY USING WRIST ORIENTATION CONSTRAINTS HAND SPACE DIMENSION: SAMPLING STRATEGY USING POSTURAL SYNERGIES

109 SAMPLING STRATEGY FOR THE ARM 48 / 56

110 SAMPLING STRATEGY FOR THE ARM 48 / 56

111 SAMPLING STRATEGY FOR THE ARM 48 / 56

112 SAMPLING STRATEGY FOR THE ARM 48 / 56

113 SAMPLING STRATEGY FOR THE ARM 48 / 56

114 SAMPLING STRATEGY FOR THE ARM 48 / 56

115 SAMPLING STRATEGY FOR THE ARM 48 / 56 REALISTIC REDUCTION VIA THE WRIST ORIENTATION CONSTRAINT

116 SAMPLING STRATEGY FOR THE ARM 48 / 56 REALISTIC REDUCTION VIA THE WRIST ORIENTATION CONSTRAINT

117 SAMPLING STRATEGY FOR THE ARM 48 / 56 REALISTIC REDUCTION VIA THE WRIST ORIENTATION CONSTRAINT P α O(x,y,z)

118 SAMPLING STRATEGY FOR THE HAND 49 / 56

119 SAMPLING STRATEGY FOR THE HAND 49 / 56

120 SAMPLING STRATEGY FOR THE HAND 49 / 56

121 SAMPLING STRATEGY FOR THE HAND 49 / 56

122 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

123 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

124 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

125 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

126 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

127 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

128 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

129 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

130 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

131 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

132 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

133 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

134 SAMPLING STRATEGY FOR THE HAND 49 / 56 POSTURAL SYNERGIES

135 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

136 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

137 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

138 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

139 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

140 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

141 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

142 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

143 LOCAL INTERCONNECTION OF TWO SAMPLES THE VAN DER CORPUT SEQUENCE 50 / 56

144 PERFORMANCE OF SYNERGY-BASED SAMPLING 51 / 56 SAMPLING THE HAND WITHOUT SYNERGIES AVG. TIME IN SECONDS: 915 AVG. SAMPLES REQUIRED: 7300 SAMPLING THE HAND WITH SYNERGIES AVG. TIME IN SECONDS: 15 AVG. SAMPLES REQUIRED: 700

145 PERFORMANCE OF TASK-SPACE SAMPLING 52 / 56 SAMPLING THE ARM IN JOINT-SPACE AVG. TIME IN SECONDS: 200 AVG. TIME SPENT IN SAMPLING: 170 SAMPLING THE ARM IN TASK-SPACE AVG. TIME IN SECONDS: 85 AVG. TIME SPENT IN SAMPLING: 10

146 53 / 56 CLOSING REMARKS SUMMARY OF CONTRIBUTIONS FUTURE WORK

147 SUMMARY OF CONTRIBUTIONS 54 / 56 A GUARANTEED METHOD TO FIND FEASIBLE GRASPS [IJRR11, ICRA08]

148 SUMMARY OF CONTRIBUTIONS 54 / 56 A GUARANTEED METHOD TO FIND FEASIBLE GRASPS A GLOBAL METHOD TO OPTIMIZE GRASPS [IJRR11, ICRA08] [TRO13, RSS11]

149 SUMMARY OF CONTRIBUTIONS 54 / 56 A GUARANTEED METHOD TO FIND FEASIBLE GRASPS A GLOBAL METHOD TO OPTIMIZE GRASPS [IJRR11, ICRA08] [TRO13, RSS11] A METHOD TO ACCOUNT FOR GRASP COMPLIANCE [ICRA12]

150 SUMMARY OF CONTRIBUTIONS A GUARANTEED METHOD TO FIND FEASIBLE GRASPS A GLOBAL METHOD TO OPTIMIZE GRASPS A METHOD TO ACCOUNT FOR GRASP COMPLIANCE [IJRR11, ICRA08] [TRO13, RSS11] AN ADAPTIVE PLANNER TO COMPUTE APPROACH PATHS [ICRA12] [AURO11, ISAM11, ICIA10, IROS09, ICRA09] 54 / 56

151 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING

152 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS

153 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS EXPLOITATION OF PCA DATA OF HAND-OBJECT CONTACTS

154 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS EXPLOITATION OF PCA DATA OF HAND-OBJECT CONTACTS CONSIDERATION OF DYNAMICS IN THE GRASP OPTIMIZATION

155 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS EXPLOITATION OF PCA DATA OF HAND-OBJECT CONTACTS CONSIDERATION OF DYNAMICS IN THE GRASP OPTIMIZATION CONSIDERATION OF TIME- VARYING ENVIRONMENTS

156 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS EXPLOITATION OF PCA DATA OF HAND-OBJECT CONTACTS CONSIDERATION OF DYNAMICS IN THE GRASP OPTIMIZATION CONSIDERATION OF TIME- VARYING ENVIRONMENTS OPTIMIZATION OF THE APPROACH PATH

157 FUTURE WORK 55 / 56 GRASP SYNTHESIS APPROACH PATH PLANNING AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS EXPLOITATION OF PCA DATA OF HAND-OBJECT CONTACTS CONSIDERATION OF TIME- VARYING ENVIRONMENTS OPTIMIZATION OF THE APPROACH PATH CONSIDERATION OF DYNAMICS IN THE GRASP OPTIMIZATION INCLUSION OF UNCERTAINTY IN THE MODELS

158 THANKS FOR YOUR ATTENTION 56 / 56

159 IDEA ON THE AUTOMATIC GENERATION OF THE CONTACT CONSTRAINTS REGIONS ON THE HAND REGIONS ON THE OBJECT

160 PART OF ATLAS RESPECTING THE JOINT LIMITS

161 HAND STRUCTURES #Actuated Finger designs Hand d.o.f. Little Ring Middle Index Thumb DIST hand (1998) 16 - URR Robonaut hand (1999) 12 R R RR U RR UR LMS hand (2001) 16 - URR Ultralight Anthropom. hand (2001) 10 R RR U RR GIFU II hand (2002) 16 U RR URR Shadow Robot hand (2003) 18 RU RR U RR UUR DLR II hand (2004) 13 - U RR RU RR UBH 3 hand (2004) 20 URR MA-I hand (2005) 16 - URR SA hand (2006) 13 - U RR RU RR Twendy-One hand (2009) 13 - U RR RUR