Autogenerated manipulation primitives

摘要

The central theme in robotic manipulation is that of the robot interacting with the world through physical contact. We tend to describe that physical contact using specific words that capture the nature of the contact and the action, such as grasp, roll, pivot, push, pull, tilt, close, open etc. We refer to these situation-specific actions as manipulation primitives. Due to the nonlinear and nonsmooth nature of physical interaction, roboticists have devoted significant efforts towards studying individual manipulation primitives. However, studying individual primitives one by one is an inherently limited process, due engineering costs, overfitting to specific tasks, and lack of robustness to unforeseen variations. These limitations motivate the main contribution of this paper: a complete and general framework to autogenerate manipulation primitives. To do so, we develop the theory and computation of contact modes as a means to classify and enumerate manipulation primitives. The contact modes form a graph, specifically a lattice. Our algorithm to autogenerate manipulation primitives (AMP) performs graph-based optimization on the contact mode lattice and solves a linear program to generate each primitive. We designed several experiments to validate our approach. We benchmarked a wide range of contact scenarios and our pipeline’s runtime was consistently in the 10 s of milliseconds. In simulation, we planned manipulation sequences using AMP. In the real-world, we showcased the robustness of our approach to real-world modeling errors. We hope that our contributions will lead to more general and robust approaches for robotic manipulation.