1. Regrasp Planning for a 4-Fingered Hand Manipulating a Polygon การวางแผนการจับด้วยมือที่มี 4 นิ้วเพื่อทำการจัดการกับวัตถุหลาย ด้าน โดย นายธนะธร พ่อค้า 457 03433 21 อาจารย์ที่ปรึกษา ดร. อรรถวิทย์ สุดแสง

2. Outline Introduction Introduction Related works Related works Background Background Thesis Thesis

3. Introduction Why regrasp? Why regrasp?

4. Introduction Properties for stable grasp Properties for stable grasp Equilibrium Force closure

5. Introduction Computing a sequence of finger repositioning Computing a sequence of finger repositioning Problem definition Problem definition Polygonal object Polygonal object 4-fingered hand 4-fingered hand

6. Introduction 1 2 3 4 2 Finger switchingFinger aligning

7. Introduction New approach New approach Switching graph Switching graph Graph search Graph search FC grasps Finger switching

8. Related works Dexterous manipulation Dexterous manipulation Task planning Task planning Grasp positions Grasp positions Dynamics, kinematics, force Dynamics, kinematics, force

9. Related works Robot hands Robot hands S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Bigger. Design of the Utah/MIT Dextrous Hand. IEEE Int. Conf. on Robotics and Automation, pp. 96-102, 1986. S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Bigger. Design of the Utah/MIT Dextrous Hand. IEEE Int. Conf. on Robotics and Automation, pp. 96-102, 1986. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger. DLR- Hand II: Next Generation of a Dextrous Robot Hand. IEEE Int. Conf. on Robotics and Automation, Seoul, 2001. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger. DLR- Hand II: Next Generation of a Dextrous Robot Hand. IEEE Int. Conf. on Robotics and Automation, Seoul, 2001. C.S. Lovchik and M.A. Diftler. 1999. The Robonaut hand: a dexterous robot hand for space. IEEE Int. Conf. on Robotics and Automation, pp. 907-912, 1999. C.S. Lovchik and M.A. Diftler. 1999. The Robonaut hand: a dexterous robot hand for space. IEEE Int. Conf. on Robotics and Automation, pp. 907-912, 1999. I. Yamano, K. Takemura, and T. Maeno. Development of a Robot Finger for Five-fingered Hand using Ultrasonic Motors. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003. I. Yamano, K. Takemura, and T. Maeno. Development of a Robot Finger for Five-fingered Hand using Ultrasonic Motors. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003.

11. Related works Grasping Grasping V-D. Nguyen. Construction force-closure grasps, 1988. V-D. Nguyen. Construction force-closure grasps, 1988. 2-fingered force closure grasp 2-fingered force closure grasp Independent contact region Independent contact region J. Ponce and B. Faverjon. On computing three-finger force-closure grasps of polygonal objects, 1995. J. Ponce and B. Faverjon. On computing three-finger force-closure grasps of polygonal objects, 1995. 2 and 3-fingered force closure grasp 2 and 3-fingered force closure grasp Independent contact region Independent contact region

12. Related works Dexterous manipulation & regrasping Dexterous manipulation & regrasping J.W. Hong, G. Lafferriere, B. Mishra, and X.L. Tang. Fine manipulation with multifinger hand, 1990. J.W. Hong, G. Lafferriere, B. Mishra, and X.L. Tang. Fine manipulation with multifinger hand, 1990. Regrasping with 3 and 4 fingers Regrasping with 3 and 4 fingers Finger gaiting Finger gaiting Curved object Curved object L. Han and J.C. Trinkle. Dextrous manipulation by rolling and finger gaiting, 1998. L. Han and J.C. Trinkle. Dextrous manipulation by rolling and finger gaiting, 1998. General framework for dexterous manipulation General framework for dexterous manipulation Finger rolling and gaiting Finger rolling and gaiting Spherical object Spherical object

13. Related works Dexterous manipulation & regrasping Dexterous manipulation & regrasping T. Omata and K. Nagata. Planning reorientation of an object with a multifingered hand, 1994. T. Omata and K. Nagata. Planning reorientation of an object with a multifingered hand, 1994. 4-fingered hand 4-fingered hand Polygonal object Polygonal object Search tree Search tree Linear and non-linear programming Linear and non-linear programming

14. Grasping Finger & contact Friction cone EquilibriumForce closure 3-Fingered grasp Necessary & sufficient Sufficient Positively span  - Positively span Concurrent grasp Stable grasp

15. Grasp and friction Hard fingers Hard fingers Coulomb friction at contact points Coulomb friction at contact points fnfn fnfn f tx f ty f tx mzmz fnfn (a) (b)(c)

16. Grasp and friction f < |  n| f < |  n|  = tan -1 (  )  = tan -1 (  ) Force at contact points lie in friction cone Force at contact points lie in friction cone n 

17. Equilibrium and force closure Equilibrium grasp Force closure grasp Equilibrium grasp ?

18. Condition for grasping A set of vectors positively span  n if any vector in  n can be written as a positive combination of the given vectors. A set of vectors positively span  n if any vector in  n can be written as a positive combination of the given vectors. u1u1 u3u3 u2u2

19. Condition of grasping u1u1 u3u3 u2u2  u1u1 u3u3 u2u2 three-finger equilibrium grasp Necessary and sufficient condition Necessary and sufficient condition

20. Condition for grasping  - positively span  2  - positively span  2 Let C i (i = 1,2,3) be the cones centered on a i with half- angle . We say that the three vectors a i (i = 1,2,3)  - positively span  2 when any triple of vectors v i  C i (i = 1,2,3) positively span  2. Let C i (i = 1,2,3) be the cones centered on a i with half- angle . We say that the three vectors a i (i = 1,2,3)  - positively span  2 when any triple of vectors v i  C i (i = 1,2,3) positively span  2. a2a2 a3a3 a1a1 C1C1 C2C2 C3C3  

21. Condition for grasping Sufficient condition Sufficient condition a1a1 a3a3 a2a2  three-finger equilibrium grasp a2a2 C1C1 C2C2 C3C3 a1a1   a3a3 “concurrent grasp”

22. Thesis New approach New approach Switching graph Switching graph Finger switching Finger switching Finger aligning Finger aligning

23. Regrasping Switching graph Finger switching Finger aligning NodeEdge Set of concurrent grasp “Focus cell” Overlapping Focus cell Represent a set of grasps by a point in the plane

24. Switching graph Point in the plan can represent a set of grasps. Point in the plan can represent a set of grasps. Independent contact region Independent contact region EaEa EaEa (a) (b). EbEb EcEc EaEa EbEb x0x0 x0x0 xcxc xaxa xbxb EbEb EcEc EcEc

25. Switching graph Focus cell Focus cell EaEa EbEb EcEc EaEa

26. a b c d Switching graph a,b,ca,b,d

27. Scope Regrasp Planning for a 4-Fingered Hand Manipulating a Polygon Regrasp Planning for a 4-Fingered Hand Manipulating a Polygon Concurrent grasp Concurrent grasp Switching graph Switching graph Optional scope Optional scope Two-finger force closure grasp Two-finger force closure grasp Parallel grasp Parallel grasp

28. Completed works Study works in grasping and regrasping. Switching graph for concurrent grasp. Implement in C++ with LEDA.

29. Completed works Publication A. Sudsang and T. Phoka. Regrasp planning for a 4- fingered hand manipulating a polygon. IEEE Int. Conf. on Robotics and Automation, pp. 2671 – 2676. Taipei, 2003. T. Phoka and A. Sudsang. Regrasp planning for a 5- fingered hand manipulating a polyhedron. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3674 – 3679. Las Vegas, 2003.

30. Ongoing works Design the switching grasp Design the switching grasp Two-finger force closure grasp Two-finger force closure grasp Parallel grasp Parallel grasp Experiment Experiment Writing a thesis Writing a thesis

31. Benefit New approach for regrasping New approach for regrasping

32. Thank you