Robust Pivoting: Exploiting Frictional Stability Using Bilevel
Optimization
- URL: http://arxiv.org/abs/2203.11412v1
- Date: Tue, 22 Mar 2022 01:44:15 GMT
- Title: Robust Pivoting: Exploiting Frictional Stability Using Bilevel
Optimization
- Authors: Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres
- Abstract summary: Generalizable manipulation requires robots to interact with novel objects and environment.
We study robust optimization for control of pivoting manipulation in the presence of uncertainties.
- Score: 13.687891070512828
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: Generalizable manipulation requires that robots be able to interact with
novel objects and environment. This requirement makes manipulation extremely
challenging as a robot has to reason about complex frictional interaction with
uncertainty in physical properties of the object. In this paper, we study
robust optimization for control of pivoting manipulation in the presence of
uncertainties. We present insights about how friction can be exploited to
compensate for the inaccuracies in the estimates of the physical properties
during manipulation. In particular, we derive analytical expressions for
stability margin provided by friction during pivoting manipulation. This margin
is then used in a bilevel trajectory optimization algorithm to design a
controller that maximizes this stability margin to provide robustness against
uncertainty in physical properties of the object. We demonstrate our proposed
method using a 6 DoF manipulator for manipulating several different objects.
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