Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published October 2018 | public
Journal Article

Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers

Abstract

To realize robotic systems in real-world settings, e.g., in restaurants, it will be necessary to achieve dynamic manipulation of non-trivial objects. In this context, this paper discusses methodologies used to realize trajectories in a robotic arm platform; specifically, applied to flipping burgers as an example of nonprehensile object manipulation. Flipping of burgers involves a series of tasks—going to the burger location, scooping, picking up and flipping. Since the goal is to obtain these trajectories in a reasonably fast manner, we employ direct collocation based multi-segmented trajectory optimization. We will first describe the problem setup, and then describe the constraints, decision variables employed, and then, to conclude, we will demonstrate these behaviors in a 6-DOF robot experimentally.

Additional Information

© 2018 IEEE. Manuscript received: February, 24, 2018; Revised May, 23, 2018; Accepted June, 20, 2018. This paper was recommended for publication by Editor Han Ding upon evaluation of the Associate Editor and Reviewers' comments. This work is supported by NSF award #: 1526519 and Miso Robotics.

Additional details

Created:
August 19, 2023
Modified:
October 18, 2023