Blog Post

Complex In-Hand Manipulation

Researchers at the Yale GRAB Lab developed a method for complex in-hand manipulation for robots.

in-hand-manipulation-pic-1
Image credit: the Yale GRAB Lab

An article titled “Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning” is published from this research and the abstract is as follows:

“Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand’s kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to be freely broken and remade so as to operate on different manipulation manifolds. This capability, however, has traditionally been difficult or impossible to practically realize. A finger gaiting system must simultaneously plan for and control forces on the object while maintaining stability during contact switching. This work alleviates the traditional requirement by taking advantage of system compliance, allowing the hand to more easily switch contacts while maintaining a stable grasp. Our method achieves complete SO(3) finger gaiting control of grasped objects against gravity by developing a manipulation planner that operates via orthogonal safe modes of a compliant, underactuated hand absent of tactile sensors or joint encoders. During manipulation, a low-latency 6D pose object tracker provides feedback via vision, allowing the planner to update its plan online so as to adaptively recover from trajectory deviations. The efficacy of this method is showcased by manipulating both convex and non-convex objects on a real robot. Its robustness is evaluated via perturbation rejection and long trajectory goals. To the best of the authors’ knowledge, this is the first work that has autonomously achieved full SO(3) control of objects within-hand via finger gaiting and without a support surface, elucidating a valuable step towards realizing true robot in-hand manipulation capabilities.”

Watch a short video of their research below:

More information:
https://arxiv.org/abs/2201.07928
https://www.eng.yale.edu/grablab/

Here are some suggestions to learn about humanoid robots (some links on this page are affiliate):

You can build a WordPress website for as low as $2.95/month:
https://www.bluehost.com/track/mecharithm

Thanks for reading this robotics news piece. You can access more categorized news on Robotics and Mechatronics at the link below:
https://www.mecharithm.com/category/robotics-mechatronics-news/

If you enjoyed this post, please consider contributing to help us with our mission to make robotics and mechatronics available for everyone. We deeply thank you for your generous contribution!




Do not forget to contact us:

Be sure to let us know your thoughts and questions about this post, as well as the other posts on the website. You can either contact us through the “Contact” tab on the website or email us at support[at]mecharithm.com.

Send us your work/ research on Robotics and Mechatronics to have a chance to get featured in Mecharithm’s Robotics News/ Learning:

Follow Mecharithm in the following social media too:

YouTube, and Instagram

Leave a Reply

Your email address will not be published.

Related Posts