Designing Open-loop Plans for Planar Micro-manipulation

— This paper describes a test-bed for planar micro manipulation tasks and a framework for planning based on quasistatic models of mechanical systems with frictional contacts. We show how planar peg-in-the-hole assembly tasks can be designed using randomized motion planning techniques with Mason’s models for quasi-static manipulation. Finally, we present simulation and experimental results in support of our methodology.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: David J. Cappelleri, Jonathan Fink, Barry Munkundakrisnam, Vijay Kumar, Jeffrey C. Trinkle
• Keywords: ICRA 2006, Motion Planning Techniques, Planar Micro Manipulation, Planar Peg-in-the-hole Assembly, Robotics