论文标题
接触模式指导采样的基于2D中的非智力灵巧操作的计划
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
论文作者
论文摘要
触点引入的不连续性和多模式使操纵计划具有挑战性。许多以前的作品通过预先设计一组高级运动原语，例如抓握和推动，避免了这个问题。但是，这种运动原语通常不足以描述灵巧的操纵运动。在这项工作中，我们提出了一种在更原始级别的灵巧操纵计划的方法。关键的想法是使用联系模式在基于抽样的计划框架中指导搜索。我们的方法可以自动在准危假设下生成接触过渡和运动轨迹。在实验中，该方法有时会产生通常以运动原语设计的动作，以及更特定于任务的灵活运动。
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such motion primitives are often not adequate to describe dexterous manipulation motions. In this work, we propose a method for dexterous manipulation planning at a more primitive level. The key idea is to use contact modes to guide the search in a sampling-based planning framework. Our method can automatically generate contact transitions and motion trajectories under the quasistatic assumption. In the experiments, this method sometimes generates motions that are often pre-designed as motion primitives, as well as dexterous motions that are more task-specific.
