Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks
|Title||Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks|
|Publication Type||Conference Paper|
|Year of Publication||In Press|
|Authors||Woodruff, J. Z., and K. M. Lynch|
|Conference Name||IEEE International Conference on Robotics and Automation|
In this paper we propose a method for motion planning and feedback control of hybrid, dynamic, and nonprehensile manipulation tasks. We outline three subproblems to address this: determining a sequence of tasks, motion planning for each individual motion primitive, and stabilizing each primitive using feedback control.We outline methods to address each of these tasks, and then apply the framework to plan a sequence of motions for manipulating a block with a planar 3R manipulator. We demonstrate the motion plans experimentally for a block resting on the manipulator with a desired goal state on a ledge outside of the robot’s workspace. The planned primitives reorient the block using a series of rolling and sliding contacts and throw it to the goal state.