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.
翻译:我们提出一种通过调节物体的接触配置来机器人操纵不明物体的方法:物体、机器人和环境之间所有接触的位置、几何和模式;接触配置限制了可适用于物体的力量和动作;然而,综合这些限制通常要求了解物体的外形和几何特征;我们为估计和控制该物体制定了一种物体的不可知性方法,绕过这一需要;我们的框架直接估计了一套扳手和动作限制,它用来调节接触配置;我们用它来被动地操纵重力平面上未知的平面物体;我们的项目网页http://mcube.mit.edu/research/contactfig.html上可以找到描述我们工作的视频。