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Evaluation of Finger Configuration
for Partial Caging
*Satoshi Makita (NIT, SaseboCollege, Japan)
Kazuyuki Nagata (AIST, J...
Partial Caging?
Incomplete confinement
• Caging: a geometrical capturing by robots in
position-controlled.
• The captured ...
Summary
Evaluating efficient configuration of robot
hand
• For capturing objects and confining them
geometrically
Evaluati...
Evaluation indexes
Assumption
• Two-fingered planar hand
Elapsed time
• How long time does it take to escape?
• How long t...
Evaluation results
(index score) =
The time to escape from the hand
The time to enter the hand
0
1
2
3
4
5
6
7
-80 -60 -40...
More results
• Changing the size of the object
• Changing the angle of the fingertips
• Changing the width between fingert...
Evaluation of Finger Configuration for Partial Caging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
...
Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
R...
Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
E...
Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
T...
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Icra2015 interactive presentation - Evaluation of Finger Configuration for Partial Caging

This is presented in the 2015 IEEE Int. Conf. on Robotics and Automation held in Seattle, WA, USA in May 26-30.

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Icra2015 interactive presentation - Evaluation of Finger Configuration for Partial Caging

  1. 1. Evaluation of Finger Configuration for Partial Caging *Satoshi Makita (NIT, SaseboCollege, Japan) Kazuyuki Nagata (AIST, Japan) The 2015 IEEE Int. Conf. on Robotics and Automation, 29/May/2015, Grasping II
  2. 2. Partial Caging? Incomplete confinement • Caging: a geometrical capturing by robots in position-controlled. • The captured object can escape from the hand, but it is difficult. • Taking advantage for robot hands with mechanical restriction. Objective • To determine robot configuration that prevent the object well from escaping (Complete) Caging Partial Caging Evaluation of Finger Configuration for Partial Caging
  3. 3. Summary Evaluating efficient configuration of robot hand • For capturing objects and confining them geometrically Evaluation indexes: • Difficulty of escaping from the hand • Ease of entering the hand Results • Suitable finger posture is present Which hand posture is suitable? Fish trap Evaluation of Finger Configuration for Partial Caging
  4. 4. Evaluation indexes Assumption • Two-fingered planar hand Elapsed time • How long time does it take to escape? • How long time does it take to enter? Evaluation of Finger Configuration for Partial Caging
  5. 5. Evaluation results (index score) = The time to escape from the hand The time to enter the hand 0 1 2 3 4 5 6 7 -80 -60 -40 -20 0 20 40 60 80 escapingtime/enteringtime angle of the gate [deg] r=0.01Lp r=0.05Lp r=0.1Lp Suitable Fingertip angle Evaluation of Finger Configuration for Partial Caging
  6. 6. More results • Changing the size of the object • Changing the angle of the fingertips • Changing the width between fingertips Let’s discuss at the display #1 Evaluation of Finger Configuration for Partial Caging
  7. 7. Evaluation of Finger Configuration for Partial Caging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan) Summary Evaluating efficient configuration of robot hand • For capturing objects and confining them geometrically (without any force sensing and control) Evaluation indexes: • Difficulty of escaping from the hand (DoEs) • Ease of entering the hand (EoEn) Assumption • Two-fingered planar hand Simulation Results • DoEs decreases corresponding to the width between the fingertips • EoEn seldom changes at a certain range of angle of the fingertips Which hand posture is good for confinement? Fish trap Partial caging = Incomplete confinement • Caging: a geometrical capturing by robots even in position- controlled. • The captured object can escape from the hand, but it is difficult. =The object can enter the hand. • Available for robot hands with mechanical restriction. Advantages of using Geometrical Features • Easier strategies to grasp objects (e.g. ring-shape) • As fault-tolerance system when grasp contacts break (Complete) Caging Partial Caging 0 50 100 150 200 250 300 350 400 450 500 -80 -60 -40 -20 0 20 40 60 80 timeuntiltheobjectescaped[s] angle of the gate [deg] r=0.01Lp r=0.05Lp r=0.1Lp Simulation result: Ease of entering 0 50 100 150 200 250 300 350 400 -80 -60 -40 -20 0 20 40 60 80 timeuntiltheobjectentered[s] the angle of the gate [deg] r=0.01Lp r=0.05Lp r=0.1Lp Simulation result: Partial caging quality 0 1 2 3 4 5 6 7 -80 -60 -40 -20 0 20 40 60 80 escapingtime/enteringtime angle of the gate [deg] r=0.01Lp r=0.05Lp r=0.1Lp Simulation result: Difficulty of escaping The difficulty of escaping increasing corresponding to the width of the fingertips The difficulty of entering increases corresponding to the width of the fingertips, except the smaller angle of the fingertips than 10 [deg] Changing the index score corresponding to the width of the fingertips, and there exists a peak of the index score from 10 to 20 [deg]
  8. 8. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan) Related Works Using Geometrical Features • Grasping a flat-shaped object by lateral pinching [Kosuge BioRob 2008] • Grasping Objects with Holes [Pokorny ICRA2013] • Gravity caging [Jiang ICRA2012] • Complete caging • 2D by planar fingertips: [Rimon IJRR 1999] and more • 3D by multifingered hand [Diankov Humanoids2008] Partial caging • Evaluating the quality of partial caging by probabilistic approaches [Makapunyo et al. ICRA2013] Our research focuses on • Partial caging by a multifingered hand • Evaluating quality of partial caging depending on the posture of the hand Gravity Partial caging The constrained object can escape form incomplete surrounding = It can enter the semi-closed region Fish trap Anisotropy of constraint Is it possible to acquire an ability of grasping without any finger control? Motivation of applying partial caging • To take advantage of geometrical constraint • To apply caging grasps to robot hands with mechanical restriction • To explorer the ability of confining an object without any control feedback Simulation results • Changing angle of the fingertips • Discussion on effect of the angle to facilitate the object to escape ●:Initial position of object ●:Fingers ●:Locus of moving object
  9. 9. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan) Evaluation settings The robot hand • Looks like a semi-closed box with a door • The planar robot hand is manipulated randomly by a 2 DOF manipulator Evaluation indexes: • Difficulty of escaping from the hand (DoEs) • Ease of entering the hand (EoEn) Simulation settings • The average elapsed time is calculated from 5,000 times • The gate (fingertips) is closing when the angle is positive, and vise versa Difficulty of escaping Ease of Entering Robot hand Gate setting Simulation Result ●:Initial position of object ●:Fingers,Walls ●:Locus of moving object Partial caging • Caging: a geometrical capturing by robots even in position-controlled. • The captured object can escape from the hand, but it is difficult. =The object can enter the hand. • Available for robot hands with mechanical restriction. Advantages of using Geometrical Features • Easier strategies to grasp objects (e.g. ring- shape) • As fault-tolerance system when grasp contacts break
  10. 10. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan) Two factors affecting the evaluation scores Retention of the object and getting over the gate • The object tends to stay at the foot of the fingertip when the angle of the fingertip is negative Width of the goal (gap between fingertips) • The width of goal entrance decreases according to the angle of the fingertips

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