Unknown object reactive manipulation

Introduction:

We propose a novel reactive strategy to solve a general object local manipulation problem with an multifingered robot hand based on the vision and tactile feedback. In this method, the micro manipulation assumption is proposed and the object can be manipulated within the robot hand workspace without the active and explicit controlling about the rolling and sliding of the fingertips on the object. A 6 D.O.F reactive controller based on the hybrid of the contact force and the contact position feedback is developed. A three layer hierarchical control structure is employed to implement this manipulation strategy. The simulation experiment is run based on the physics engine-Vortex, to show the feasibility of this method.

Control Schema:

Fig .1 Components of closed loop control scheme

Fig 2. Composite Position + Force Control Scheme

Simulation Experiment:

Video 1. Physics based simulation unknown object in hand manipulation

Video 2. Object manipulation result tracking "8"

Video 3: Experiment demonstration Using Bi-Kuka LWR assembling tactile sensor as "big" fingers

Reference paper:

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, "Towards Unknown Object Manipulation", 10th IFAC Symposiums on Robot Control , 05/09/2012, Dubrovnik, Croatia,
• QiangLi, Christof Elbrechter, Robert Haschke, Helge Ritter, "Integrating vision, haptics and proprioception into a feedback controller for in-hand manipulation of unknown objects", Published by IEEE IROS2013.