Mobile manipulation requires the integration of methodologies from all aspects of robotics. Instead of tackling each aspect in isolation,mobilemanipulation research exploits their interdependence to solve challenging problems. As a result, novel views of long-standing problems emerge. In this chapter, we present these emerging views in the areas of grasping, control, motion generation, learning, and perception. All of these areas must address the shared challenges of high-dimensionality, uncertainty, and task variability. The section on grasping and manipulation describes a trend towards actively leveraging contact and physical and dynamic interactions between hand, object, and environment. Research in control addresses the challenges of appropriately coupling mobility and manipulation. The field of motion generation increasingly blurs the boundaries between control and planning, leading to task-consistent motion in high-dimensional configuration spaces, even in dynamic and partially unknown environments. A key challenge of learning formobilemanipulation consists of identifying the appropriate priors, and we survey recent learning approaches to perception, grasping, motion, and manipulation. Finally, a discussion of promising methods in perception shows how concepts and methods from navigation and active perception are applied.
A compliant underactuated hand for robust manipulation
Author Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert Howe, Aaron M. Dollar
Video ID : 655
This video introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by five actuators which is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. Particular emphasis is placed on the development of underactuated fingers that are capable of both firm power grasps and low-stiffness fingertip grasps, using only the compliant mechanics of the fingers.