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We consider the problem of reorienting a rigid object with arbitrary knownshape on a table using a two-finger pinch gripper. Reorienting problem ischallenging because of its non-smoothness and high dimensionality. In thiswork, we focus on solving reorienting using pivoting, in which we allow thegrasped object to rotate between fingers. Pivoting decouples the gripperrotation from the object motion, making it possible to reorient an object understrict robot workspace constraints. We provide detailed mechanical analysis tothe 3D pivoting motion on a table, which leads to simple geometric conditionsfor its stability. To solve reorienting problems, we introduce two motionprimitives: pivot-on-support and roll-on-support, and provide an efficienthierarchical motion planning algorithm with the two motion primitives to solvefor the gripper motions that reorient an object between arbitrary poses. Tohandle the uncertainties in modeling and perception, we make conservative plansthat work in the worst case, and propose a robust control strategy forexecuting the motion plan. Finally we discuss the mechanical requirements onthe robot and provide a "two-phase" gripper design to implement both pivotinggrasp and firm grasp. We demonstrate the effectiveness of our method insimulations and multiple experiments. Our algorithm can solve more reorientingproblems with fewer making and breaking contacts, when compared to traditionalpick-and-place based methods.

Reorienting Objects in 3D Space Using Pivoting