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School of Mechanical Engineering Seminar
Wednesday May 17.5.2023 at 14:00

Wolfson Building of Mechanical Engineering, Room 206

A study on gravity assisted pivoting of an object within a parallel robotic gripper

Matan Levy

M.Sc. research under the supervision of Dr. Avishai Sintov

Tel Aviv University, Department of Mechanical Engineering

Many robotic applications require a robotic manipulator to use a tool to perform certain tasks, for example a pick and place application, or assembly related tasks in production lines. A robotic manipulator that can use various tools has larger variety of tasks it can perform without increasing its hardware complexity. The use of various tools requires the manipulator to grasp them in the specific orientation suitable for their use, which may require pivoting the object. For example, in case that the grasping orientation is constrained by the object’s initial location and orientation. Pivoting refers to the action of reorienting a grasped object within the robotic gripper.

The pivoting problem was previously researched, and different methods based on classical control, modern control theory, as well as reinforcement learning were developed and tested to accomplish this task. All previous studies rely on friction control during the pivoting of the grasped object. These works also deal with objects that their motion is confined to a single plane which is not rotating in space. In our work, we explore the advantages of object manipulation in 3D space, using gravity to bring the object to the desired orientation, instead of a swing-like maneuver. Also, as no friction control is used, the need for force feedback sensors, or precise modeling of the friction between the object and the gripper are reduced. In this work, we evaluate classical control as well as learning-based methods to solve the problem of object gravity assisted pivoting.

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https://tau-ac-il.zoom.us/j/86497933118