Zobrazeno 1 - 10
of 268
pro vyhledávání: '"Mason, Matthew T."'
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This framework exp
Externí odkaz:
http://arxiv.org/abs/2307.00383
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by structural properties as well as sensing and control
Externí odkaz:
http://arxiv.org/abs/2212.03469
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transiti
Externí odkaz:
http://arxiv.org/abs/2105.14431
Autor:
Hou, Yifan, Mason, Matthew T.
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact constraints. T
Externí odkaz:
http://arxiv.org/abs/2011.04872
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 primit
Externí odkaz:
http://arxiv.org/abs/2011.01454
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and enables manipu
Externí odkaz:
http://arxiv.org/abs/2006.02996
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus on solving
Externí odkaz:
http://arxiv.org/abs/1912.02752
Autor:
Hou, Yifan, Mason, Matthew T.
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We call this
Externí odkaz:
http://arxiv.org/abs/1903.02715
Autor:
Mannam, Pragna, Volkov Jr., Alexander, Paolini, Robert, Chirikjian, Gregory, Mason, Matthew T.
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason's sensorless reorienting of an
Externí odkaz:
http://arxiv.org/abs/1812.01195
Autor:
Lee, Gilwoo, Marinho, Zita, Johnson, Aaron M., Gordon, Geoffrey J., Srinivasa, Siddhartha S., Mason, Matthew T.
This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track challenging problems with diverse dynamics and low dimensional transit
Externí odkaz:
http://arxiv.org/abs/1710.00440