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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Bibliografiske detaljer
Udgivet i:Front Robot AI
Main Authors: Bimbo, Joao, Turco, Enrico, Ghazaei Ardakani, Mahdi, Pozzi, Maria, Salvietti, Gionata, Bo, Valerio, Malvezzi, Monica, Prattichizzo, Domenico
Format: Artigo
Sprog:Inglês
Udgivet: Frontiers Media S.A. 2019
Fag:
Robotics and AI
Online adgang:https://ncbi.nlm.nih.gov/pmc/articles/PMC7805883/
https://ncbi.nlm.nih.gov/pubmed/33501150
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2019.00135
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