TR2021-072

Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units


    •  Jin, S., Romeres, D., Raghunathan, A., Jha, D., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), June 2021.
      BibTeX TR2021-072 PDF
      • @inproceedings{Jin2021jun,
      • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh and Tomizuka, Masayoshi},
      • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2021,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2021-072}
      • }
  • MERL Contacts:
  • Research Area:

    Robotics

Abstract:

This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory planning. For modeling, variations in the belt tension and contact forces between the belt and the pulley could dramatically change the system dynamics. For trajectory planning, it is computationally expensive to plan trajectories for such hybrid dynamical systems as it usually requires planning for discrete modes separately. In this work, we formulate the belt drive unit assembly task as a trajectory optimization problem with complementarity constraints to avoid explicitly imposing contact mode sequences. The problem is solved as a mathematical program with complementarity constraints (MPCC) to obtain feasible and efficient assembly trajectories. We validate the proposed method both in simulations with a physics engine and in real-world experiments with a robotic manipulator.

 

  • Related Publication

  •  Jin, S., Romeres, D., Raghunathan, A., Jha, D., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", arXiv, June 2021.
    BibTeX arXiv
    • @article{Romeres2021jun,
    • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh and Tomizuka, Masayoshi},
    • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
    • journal = {arXiv},
    • year = 2021,
    • month = jun,
    • url = {https://arxiv.org/abs/2106.00898}
    • }