Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

Nikhil Chavan Dafle1, Alberto Rodriguez1

  • 1Massachusetts Institute of Technology



Interactive Session


10:30 - 13:00 | Tue 22 May | podE | TuA@E

Manipulation - Planning 1

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This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner.

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  • In-hand manipulation using external pushes for which the pusher sticks to the object.
  • We present an efficient dynamics formulation of prehensile pushing and its application in a sampling-based planning framework.
  • The planner generates pushing strategies, involving pusher switch-overs if necessary, in a few seconds.