Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps

This paper presents a method to grasp objects that cannot be picked directly from a table, using a soft, underactuated hand. These grasps are achieved by dragging the object to the edge of a table, and grasping it from the protruding part, performing so-called slide-to-edge grasps. This type of appr...

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Bibliographic Details
Main Authors: Joao Bimbo, Enrico Turco, Mahdi Ghazaei Ardakani, Maria Pozzi, Gionata Salvietti, Valerio Bo, Monica Malvezzi, Domenico Prattichizzo
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-12-01
Series:Frontiers in Robotics and AI
Subjects:
soft robotic hands
environmental constraints exploitation
sliding
edge grasp
grasp planning
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2019.00135/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2019.00135/full

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