Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning

Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to contact dynamics models used in robotic manipulation and loco...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-10, Vol.5 (4), p.6209-6216
Main Authors: Toussaint, Marc, Ha, Jung-Su, Driess, Danny
Format: Article
Language:English
Subjects:
Cognition
Computer simulation
Geometry
Grasping (robotics)
Locomotion
Manipulation planning
Mathematical model
motion and path planning
Optimization
optimization and optimal control
Parameterization
Physics
Planning
Reasoning
Robots
Simulators
Throwing
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Summary:Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to contact dynamics models used in robotic manipulation and locomotion. In this work we propose descriptions of physics which directly allow us to leverage optimization methods for physical reasoning and sequential manipulation planning. The proposed multi-physics formulation enables the solver to mix various levels of abstraction and simplifications for different objects and phases of the solution. As an essential ingredient, we propose a specific parameterization of wrench exchange between object surfaces in a path optimization framework, introducing the point-of-attack as decision variable. We demonstrate the approach on various robot manipulation planning problems, such as grasping a stick in order to push or lift another object to a target, shifting and grasping a book from a shelve, and throwing an object to bounce towards a target.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.3010462