The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such motion primitives are often not adequate to describe dexterous manipulation motions. In this work, we propose a method for dexterous manipulation planning at a more primitive level. The key idea is to use contact modes to guide the search in a sampling-based planning framework. Our method can automatically generate contact transitions and motion trajectories under the quasistatic assumption. In the experiments, this method sometimes generates motions that are often pre-designed as motion primitives, as well as dexterous motions that are more task-specific.
翻译:接触引入的不连续性和多时制使得操纵规划具有挑战性。 许多先前的工作通过预先设计一套高层次的运动原始体来避免这一问题,例如握住和推动。 但是,这种运动原始体往往不足以描述巧妙的操纵动作。 在这项工作中,我们提出了一个在更原始的层次上进行灵活操纵规划的方法。关键的想法是使用接触模式来指导基于抽样的规划框架中的搜索。我们的方法可以自动产生联系过渡和运动轨迹。在实验中,这种方法有时产生通常预先设计为运动原始体的运动动作的移动,以及更针对具体任务的移动动作。