Kolathaya, Shishir and Guffey, William and Sinnet, Ryan W. and Ames, Aaron D. (2018) Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics and Automation Letters, 3 (4). pp. 3677-3684. ISSN 2377-3766. doi:10.1109/LRA.2018.2854910. https://resolver.caltech.edu/CaltechAUTHORS:20180711-152627687
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Abstract
To realize robotic systems in real-world settings, e.g., in restaurants, it will be necessary to achieve dynamic manipulation of non-trivial objects. In this context, this paper discusses methodologies used to realize trajectories in a robotic arm platform; specifically, applied to flipping burgers as an example of nonprehensile object manipulation. Flipping of burgers involves a series of tasks—going to the burger location, scooping, picking up and flipping. Since the goal is to obtain these trajectories in a reasonably fast manner, we employ direct collocation based multi-segmented trajectory optimization. We will first describe the problem setup, and then describe the constraints, decision variables employed, and then, to conclude, we will demonstrate these behaviors in a 6-DOF robot experimentally.
Item Type: | Article | ||||||
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Additional Information: | © 2018 IEEE. Manuscript received: February, 24, 2018; Revised May, 23, 2018; Accepted June, 20, 2018. This paper was recommended for publication by Editor Han Ding upon evaluation of the Associate Editor and Reviewers’ comments. This work is supported by NSF award #: 1526519 and Miso Robotics. | ||||||
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Subject Keywords: | Trajectory Optimization, Dynamic Motion Planning, Nonprehensile Contacts, Manipulation Planning | ||||||
Issue or Number: | 4 | ||||||
DOI: | 10.1109/LRA.2018.2854910 | ||||||
Record Number: | CaltechAUTHORS:20180711-152627687 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20180711-152627687 | ||||||
Official Citation: | S. Kolathaya, W. Guffey, R. W. Sinnet and A. D. Ames, "Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers," in IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3677-3684, Oct. 2018. doi: 10.1109/LRA.2018.2854910 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 87774 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | George Porter | ||||||
Deposited On: | 11 Jul 2018 22:46 | ||||||
Last Modified: | 15 Nov 2021 20:51 |
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