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Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers

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.

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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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Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
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.
Funding AgencyGrant Number
Subject Keywords:Trajectory Optimization, Dynamic Motion Planning, Nonprehensile Contacts, Manipulation Planning
Issue or Number:4
Record Number:CaltechAUTHORS:20180711-152627687
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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
Deposited By: George Porter
Deposited On:11 Jul 2018 22:46
Last Modified:15 Nov 2021 20:51

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