Automated Design of Manipulators for In-Hand Tasks
- Resource Type
- Conference
- Authors
- Hazard, Christopher; Pollard, Nancy; Coros, Stelian
- Source
- 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Humanoid Robots (Humanoids), 2018 IEEE-RAS 18th International Conference on. :1-8 Nov, 2018
- Subject
- Robotics and Control Systems
Task analysis
Optimization
Pipelines
Manipulators
Trajectory
Kinematics
- Language
- ISSN
- 2164-0580
Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a preexisting kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high level objectives as input. Our goal is to create a pipeline that automatically generates custom hands designed for specific manipulation tasks based on high level user input. Our framework comprises of a sequence of trajectory optimizations chained together to translate a sequence of objective poses into an optimized hand mechanism along with a physically feasible motion plan involving both the constructed hand and the object. We demonstrate the feasibility of this approach by synthesizing a series of hand designs optimized to perform specified in-hand manipulation tasks of varying difficulty.