A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation
Cheng Zhou, Wentao Gao, Weifeng Lu, Yanbo Long, Sicheng Yang, Longfei Zhao, Bidan Huang, Yu Zheng
Abstract
This paper proposes a novel efficient multi-phase trajectory generation algorithm for dynamic dexterous manipulation tasks, such as throwing, catching, dynamic regrasping, and dynamic handover, which can be decomposed into multiple manipulation primitives, including sticking, rolling, approaching, separating, colliding, and grasping. Each manipulation primitive is formulate as a free-terminal optimal control problem (OCP), aimed at computing the optimal pose (position and orientation) trajectories of the object and the robot subject to the pose and force linkage constraints between them and the expected force maintenance at contact. A single-arm regrasping task and a dual-arm dynamic handover task are conducted to demonstrate the effectiveness of the proposed algorithm.
BibTeX
@inproceedings{iros2023_aunifiedtrajecto,
title = {A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation},
author = {Cheng Zhou and Wentao Gao and Weifeng Lu and Yanbo Long and Sicheng Yang and Longfei Zhao and Bidan Huang and Yu Zheng},
booktitle = {IROS 2023},
year = {2023}
}