1. 1 D-Space and Deform Closure: A Framework for Holding Deformable Parts K. “Gopal” Gopalakrishnan, Ken Goldberg IEOR and EECS, UC Berkeley

2. 2 Related Work, C-Space D-Space: a “C-Space”-like framework for holding deformable parts. D free = D T  [  (DA i C )] Potential Energy Deform Closure Thm 1: Frame Invariance Thm 2: Form-Closure Equivalence Symmetry in D free. Quality Metrics, Optimal Deform Closure Outline

3. 3 Workholding: Rigid parts Contact Mechanics: Number of contacts –[Reuleaux, 1876], [Somoff, 1900] –[Mishra, Schwarz, Sharir, 1987], –[Nguyen, 1988] –[Markenscoff, Papadimitriou, 1990] –[Han, Trinkle, Li, 1999] Immobility, 2 nd Order Form Closure –[Rimon, Burdick, 1995] –[Ponce, Burdick, Rimon, 1995] [Mason, 2001]

4. 4 Workholding: Rigid parts +- +- + + - - Caging Grasps –[Rimon, Blake, 1999] Summaries of results –[Bicchi, Kumar, 2000] –[Mason, 2001] C-Spaces for closed chains –[Milgram, Trinkle, 2002] Fixturing hinged parts –[van der Stappen et al, 2002] Antipodal Points for Curved Parts –[Jia 2002]

5. 5 C-Space C-Space (Configuration Space): [Lozano-Perez, 1983] Dual representation Each degree of part freedom is one C-space dimension. y x  /3 (5,4) y x  (5,4,-  /3) Physical space C-Space

6. 6 Avoiding Collisions: C-obstacles Blue part collides with point obstacle A at a set of configurations. In C-space, the set is the C-obstacle, CA. In C-space, the part shrinks to a point and the obstacle grows accordlingly CA c = C free. Physical space C-Space x y

7. 7 C-space applied to Workholding “Finger bodies” are obstacles. For planar rigid part, C-space has 3 dimensions. Physical space C-Space x  y

8. 8 Form Closure A part is grasped in Form Closure if any infinitesimal motion results in collision. Form Closure is equivalent to an isolated point in C-free. (Force Closure = ability to resist any wrench). Physical space C-Space x  y

9. 9 Elastic Fingers, Soft Contacts [Hanafusa and Asada, 1982] [Salisbury and Mason, 1985] Physical Models [Joukhadar, Bard, Laugier, 1994] Bounded Force Closure [Wakamatsu, Hirai, Iwata, 1996] Learned Grasps of Deformable Objects [Howard, Bekey, 1999] Holding Deformable Parts

10. 10 Holding Deformable Parts Path Planning for Elastic Sheets and Bodies [Kavraki et al, 1998, 2000] Fabric Handling [Henrich and Worn, 2000] Robust manipulation with Vision [Hirai, Tsuboi, Wada 2001]

11. 11 Deformable parts “Form closure” insufficient: The part can always escape if deformed.

12. 12 Part Model Planar Polygonal Boundary Triangular Mesh Nodes (like hinges) Edges (like struts) Elements (deformable)

13. 13 Deformation Space (D-Space) Each node has 2 DOF Analogous to configurations in C-Space D-Space: 2N-dimensional space of mesh node positions. point q in D-Space is a “deformation” q 0 is initial (undeformed) point 30-dimensional D-space

14. 14 D-Space: Example Example part: 3-node mesh, 2 fixed. D-Space: 2D x y Physical space D-Space q0q0

15. 15 Topology violating deformation Undeformed part Allowed deformation Self Collisions

16. 16 D T : Topology Preserving Subspace x y Physical space D-Space D T  D-Space. DTDT DTC:DTC:

17. 17 D-Obstacles x y Physical space D-Space Collision of any mesh element with obstacle. A Physical obstacle A i defines a deformation- obstacle DA i in D-Space. A1A1 DA 1

18. 18 D-Space: Example Physical space x y D-Space Like C free, we define D free. D free = D T  [  (DA i C )]

19. 19 With more nodes: D free Slice with only node 5 moving. Part and mesh 1 23 5 4 x y Slice with only node 3 moving. x 3 y 3 x 5 y 5 x 5 y 5 x 5 y 5 Physical space D-Space D free = D T  [  (DA i C )]

20. 20 Displacement between a pair of deformations q 0 : part’s nominal shape. X = q - q 0 : vector of nodal translations. Equivalent to moving origin in D-Space to q 0 and aligning nodal reference frames. q0q0 q X

21. 21 Potential Energy Assume Linear Elasticity, Zero Friction K = FEM stiffness matrix. (2N  2N matrix for N nodes.) Forces at nodes: F = K X. Potential Energy: U(q) = (1/2) X T K X

22. 22 Potential Energy “Surface” U : D free  R  0 Equilibrium: q where U is at a local minimum. In absence of friction or inertia, part will come to rest at an equilibrium. Stable Equilibrium: q where U is at a strict local minimum. = “Deform Closure Grasp” q U(q)

23. 23 Potential Energy Needed to Escape from a Stable Equilibrium Consider: Stable equilibrium q A, Equilibrium q B. “Capture Region”: K(q A )  D free, such that any configuration in K(q A ) returns to q A. q A qBqB q U(q) K( q A )

24. 24 U A (q A ) = Increase in Potential Energy needed to escape from q A. = minimum external work needed to escape from q A. U A : Quality Measure q A qBqB q U(q) UAUA Potential Energy Needed to Escape from a Stable Equilibrium K( q A )

25. 25 Quality Measure Example U A = 4 JoulesU A = 547 Joules

26. 26 Quality Measure Example U A = 4 JoulesU A = 547 Joules

27. 27 Definition of Deform closure is frame-invariant. Proof: Consider D-spaces D 1 and D 2. - Consider q 1  D 1, q 2  D 2. such that physical meshes are identical. Theorem 1: Frame Invariance x y x y D1:D1: D2:D2:

28. 28 There exists distance preserving linear transformation T such that q 2 = T q 1. and U A2 (q 2 ) = U A1 (q 1 ) U A does not depend on frame. Theorem 1: Frame Invariance x y x y

29. 29 Form-closure of rigid part Theorem 2: Form Closure and Deform Closure  Deform-closure of equivalent deformable part.  If in form-closure, strict local minimum: work needed to escape. If in deform-closure, and no deformation allowed: form closure.

30. 30 High Dimensional. Computing D T and DA i. Exploit symmetry. Computing D free DA i D free DTCDTC

31. 31 Consider obstacle A and one triangular element. Consider the slice D e of D, corresponding to the 6 DOF of this element. Along all other axes of D, D e is constant. Extruded cross-section is a 6D prism. The shape of DA e is same for all elements. Computing DA i 1 32 4 5

32. 32 Thus, DA is the union of identical prisms with orthogonal axes. Center of DA is the deformation where the part has been shrunk to a point inside A. Similar approach for D T. Computing DA i 1 32 4 5 1 3 2 4 5 

33. 33 Two-point Deform Closure: Given contact nodes: Determine optimal jaw separation  *. Current work 

34. 34 If Quality metric Q = U A. Maximum U A trivially at   = 0 Naïve Quality Metric

35. 35 New Quality Metric Plastic deformation. Occurs when strain exceeds e L.

36. 36 New Quality Metric Additional work U L done by jaws for plastic deformation. New Q = min { U A, U L } Maximize min { U A, U L } Stress Strain Plastic Deformation A B C eLeL A B C

37. 37 Potential Energy Surface Potential Energy Jaw 1 position Jaw 2 position

38. 38 Computing work needed to escape: U A (  i )

39. 39 Computing work needed to escape

40. 40 U Vertex v (traversed on path of minimum work) U(v) U(v*) Computing U A (  i )

41. 41 Numerical Example Undeformed  = 10 mm. Optimal   = 5.6 mm. Foam Rubber e L = 0.8. FEM performed using ANSYS.

42. 42 x y z 3D Tetrahedral elements: - 3 DOF per node. Friction Task Forces eg, Gravity

43. 43 D-Space: a “C-Space”-like framework for holding deformable parts. D free = D T  [  (DA i C )] Potential Energy Deform Closure Thm 1: Frame Invariance Thm 2: Form-Closure Equivalence Symmetry in D free. Quality Metrics, Optimal Deform Closure Summary