A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation

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.

Authors

• Cheng Zhou
• Wentao Gao
• Weifeng Lu
• Yanbo Long
• Sicheng Yang
• Longfei Zhao
• Bidan Huang
• Yu Zheng 0001

Keywords

• Couplings
• Heuristic algorithms
• Dynamics
• Force
• Optimal control
• Tactile sensors
• Handover
• Dexterity
• Use Of Dynamics
• Trajectory Generation
• Manipulation Tasks
• Optimal Control Problem
• Position Trajectory
• Object Trajectory
• Variety Of Methods
• Contact Point
• Singular Value
• Ordinary Differential Equations
• Position Of Point
• Symmetry Axis
• Termination Condition
• Robotic Arm
• Contact Force
• Object Position
• Trajectory Optimization
• Robot Trajectory
• Minimum Principle
• Local Frame
• Object Pose
• First-order Conditions
• Hamiltonian Function
• Part Of The Robot
• Terminal Time
• Orientation Of Frame