Grasping of objects is not always feasible for robot manipulators, e.g., due to their geometric properties. Non-prehensile manipulation strategies can enable manipulators to successfully move these objects around. We analyze human-inspired gripper configurations for pushing small or heavy objects and propose closed-loop pushing strategies based on force-torque measurements as well as open-loop strategies to push small objects. In a thorough evaluation on a KUKA LWR4+ manipulator arm and in simulation, we discuss the effects of the different designs and strategies.


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    Titel :

    Human-Inspired Non-prehensile Manipulation Strategies: Design, Implementation, and Evaluation


    Weitere Titelangaben:

    SN COMPUT. SCI.


    Beteiligte:
    Bhat, Pooja (Autor:in) / Nieuwenhuisen, Matthias (Autor:in) / Schulz, Dirk (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2023-12-07




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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