Regrasping/Reorienting

Publications

Fast Planning for 3D Any-Pose-Reorienting using Pivoting 
Yifan Hou, Zhenzhong Jia and Matthew T. Mason 

Conference Paper, International Conference on Robotics and Automation (ICRA) 2018, May, 2018 

Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces 
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson and Matthew T. Mason 

Conference Paper, THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS, December, 2016 

Data-Driven Statistical Modeling of a Cube Regrasp 
Robert Paolini and Matthew T. Mason 

Conference Paper, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016 

Extrinsic Dexterity

“In-hand manipulation” is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation, is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object’s surface. Dexterous manipulation, however, is just one of the many techniques available to the robot. The robot can also roll the object in the hand by using gravity, or adjust the object’s pose by pressing it against a surface, or if fast enough, it can even toss the object in the air and catch it in a different pose. All these techniques have one thing in common: they rely on resources extrinsic to the hand, either gravity, external contacts or dynamic arm motions. We refer to them as “extrinsic dexterity”. We study extrinsic dexterity in the context of regrasp operations, for example when switching from a power to a precision grasp, and we demonstrate that even simple grippers are capable of ample in-hand manipulation.

Selected Publications

Extrinsic Dexterity: In-Hand Manipulation with External Forces 
Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha SrinivasaMichael ErdmannMatthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge 

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2014